Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866914948673699840 |
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| author | Aoki, Mizuho Honda, Kohei Okuda, Hiroyuki Suzuki, Tatsuya |
| author_facet | Aoki, Mizuho Honda, Kohei Okuda, Hiroyuki Suzuki, Tatsuya |
| contents | Four-wheel independent drive and steering vehicle (4WIDS Vehicle, Swerve Drive Robot) has the ability to move in any direction by its eight degrees of freedom (DoF) control inputs. Although the high maneuverability enables efficient navigation in narrow spaces, obtaining the optimal command is challenging due to the high dimension of the solution space. This paper presents a navigation architecture using the Model Predictive Path Integral (MPPI) control algorithm to avoid collisions with obstacles of any shape and reach a goal point. The key idea to make the problem easier is to explore the optimal control input in a reasonably reduced dimension that is adequate for navigation. Through evaluation in simulation, we found that selecting the sampling space of MPPI greatly affects navigation performance. In addition, our proposed controller which switches multiple sampling spaces according to the real-time situation can achieve balanced behavior between efficiency and safety. Source code is available at https://github.com/MizuhoAOKI/mppi_swerve_drive_ros |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_08648 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation Aoki, Mizuho Honda, Kohei Okuda, Hiroyuki Suzuki, Tatsuya Robotics Four-wheel independent drive and steering vehicle (4WIDS Vehicle, Swerve Drive Robot) has the ability to move in any direction by its eight degrees of freedom (DoF) control inputs. Although the high maneuverability enables efficient navigation in narrow spaces, obtaining the optimal command is challenging due to the high dimension of the solution space. This paper presents a navigation architecture using the Model Predictive Path Integral (MPPI) control algorithm to avoid collisions with obstacles of any shape and reach a goal point. The key idea to make the problem easier is to explore the optimal control input in a reasonably reduced dimension that is adequate for navigation. Through evaluation in simulation, we found that selecting the sampling space of MPPI greatly affects navigation performance. In addition, our proposed controller which switches multiple sampling spaces according to the real-time situation can achieve balanced behavior between efficiency and safety. Source code is available at https://github.com/MizuhoAOKI/mppi_swerve_drive_ros |
| title | Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.08648 |