Model Predictive Path Integral (MPPI)是一种基于路径积分的预测模型控制方法,被广泛应用于机器人运动规划、飞行器轨迹控制和自动驾驶车辆路径生成等领域。该方法通过将控制问题转化为优化问题,并使用路径积分来评估不同控制策略的性能,从而找到最佳的控制策略来实现所需任务。 2.2 原理解析 MPPI的原理是基于随机采样和近...
本文采用Model Predictive Path Integral (MPPI)的方法,用多元高斯分布\left( \mu ^0,\sigma ^0 \right) _{t:t+H}独立表示动作空间为m的H个动作,根据a_t\sim \mathcal{N}( \mu _{t}^{j-1},( \sigma _{t}^{j-1} ) ^2I )采样N条轨迹,根据\pi_\theta,d_\theta采样N_\pi条轨迹,使用\...
The model predictive path integral (MPPI) controller is a novel approach for autonomous vehicle control based on stochastic sampling of trajectories. The method is derivative free, and can handle complex non-linear dynamics and cost functions, which makes it ideal for performing aggressive maneuvers w...
Model predictive path integral for decentralized multi-agent collision avoidancedoi:10.7717/peerj-cs.2220Dergachev, StepanYakovlev, KonstantinPeerJ Computer Science
In this paper, a model predictive path integral control algorithm based on a generalized importance sampling scheme is developed and parallel optimization via sampling is performed using a graphics processing unit. The proposed generalized importance sampling scheme allows for changes in the drift and di...
[4] Devasia S. Output-Sampled Model Predictive Path Integral Control (o-MPPI) for Increased ...
This paper presents a reactive navigation method that leverages a Model Predictive Path Integral (MPPI) control enhanced with spline interpolation for the control input sequence and Stein Variational Gradient Descent (SVGD). The MPPI framework addresses a nonlinear optimization problem by determining an ...
3. Model Predictive Path Integral Control: From Theory to Parallel Computation [J] . Grady Williams, Andrew Aldrich, Evangelos A. Theodorou Journal of guidance, control, and dynamics . 2017,第2期 机译:模型预测路径积分控制:从理论到并行计算 4. Uncertainty averse pushing with model predictive...
Fig.1.Aggressivedrivingwithmodelpredictivepathintegralcontroland I.INTRODUCTIONneuralnetworkdynamics. Manyrobotictaskscanbeframedasreinforcementlearn- ing(RL)problems,wherearobotseekstooptimizeabeequippedwithfastdecisionmakingprocesses.Model costfunctionencodingataskbyutilizingdatacollectedbypredictivecontrol(MPC)orrecedin...
Aggressive driving with model predictive path integral control The algorithm is based on a stochastic optimal control framework using a fundamental relationship between the information theoretic notions of free energy and ... G Williams,P Drews,B Goldfain,... - IEEE International Conference on Robotic...