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Derivative Action Control: Smooth Model Predictive Path Integral Control without Smoothing

2021-12-18 19:54:35
Taekyung Kim, Gyuhyun Park, Jihwan Bae, Wonsuk Lee
arXiv_RO
           
Abstract

Here, we present a new approach to generate smooth control sequences in Model Predictive Path Integral control (MPPI) tasks without any additional smoothing algorithms. Our method effectively alleviates the chattering in sampling, while the information theoretic derivation of MPPI remains the same. We demonstrated the proposed method in a challenging autonomous driving task with quantitative evaluation of different algorithms. A neural network vehicle model for estimating system dynamics under varying road friction conditions is also presented. Our video can be found at: \url{this https URL}.

Abstract (translated)

URL

https://arxiv.org/abs/2112.09988

PDF

https://arxiv.org/pdf/2112.09988.pdf

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