This repository contains the code of the IEEE IV2025 paper called "Dynamic Objective MPC for Motion Planning of Seamless Docking Maneuvers".
This algorithm is based on a model predictive contouring controller (MPCC) created in acados, which is improved by the methods proposed in this paper. These changes allow for high-precision motion planning along a reference path while being able to reach specific goal poses at the same time without stopping or switching completely to the controller.
Especially in docking scenarios, this is a common use case.
⚙️ The code of this repository will be available after final acceptance.