Path Integral Control with Rollout Clustering and Dynamic Obstacles

原文アブストラクト

Model Predictive Path Integral (MPPI) control has proven to be a powerful tool for the control of uncertain systems (such as systems subject to disturbances and systems with unmodeled dynamics). One important limitation of the baseline MPPI algorithm is that it does not utilize simulated trajectories to their fullest extent. For one, it assumes that the average of all trajectories weighted by their performance index will be a safe trajectory. In this paper, multiple examples are shown where the previous assumption does not hold, and a trajectory clustering technique is presented that reduces the chances of the weighted average crossing in an unsafe region. Secondly, MPPI does not account for dynamic obstacles, so the authors put forward a novel cost function that accounts for dynamic obstacles without adding significant computation time to the overall algorithm. The novel contributions proposed in this paper were evaluated with extensive simulations to demonstrate improvements upon the state-of-the-art MPPI techniques.