Model Predictive Path Integral Control using Covariance Variable Importance Sampling
Systems and Control
2015-10-29 v3 Distributed, Parallel, and Cluster Computing
Robotics
Abstract
In this paper we develop a Model Predictive Path Integral (MPPI) control algorithm based on a generalized importance sampling scheme and perform parallel optimization via sampling using a Graphics Processing Unit (GPU). The proposed generalized importance sampling scheme allows for changes in the drift and diffusion terms of stochastic diffusion processes and plays a significant role in the performance of the model predictive control algorithm. We compare the proposed algorithm in simulation with a model predictive control version of differential dynamic programming.
Keywords
Cite
@article{arxiv.1509.01149,
title = {Model Predictive Path Integral Control using Covariance Variable Importance Sampling},
author = {Grady Williams and Andrew Aldrich and Evangelos Theodorou},
journal= {arXiv preprint arXiv:1509.01149},
year = {2015}
}
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8 pages