Aggressive driving with model predictive path integral control

Grady Williams; Paul Drews; Brian Goldfain; James M. Rehg; Evangelos A. Theodorou

ICRA 2016578 citations

Aggressive driving with model predictive path integral control

Grady Williams, Paul Drews, Brian Goldfain, James M. Rehg, Evangelos A. Theodorou

Abstract

In this paper we present a model predictive control algorithm designed for optimizing non-linear systems subject to complex cost criteria. The algorithm is based on a stochastic optimal control framework using a fundamental relationship between the information theoretic notions of free energy and relative entropy. The optimal controls in this setting take the form of a path integral, which we approximate using an efficient importance sampling scheme. We experimentally verify the algorithm by implementing it on a Graphics Processing Unit (GPU) and apply it to the problem of controlling a fifth-scale Auto-Rally vehicle in an aggressive driving task.

BibTeX

@inproceedings{icra2016_aggressivedrivin,
  title = {Aggressive driving with model predictive path integral control},
  author = {Grady Williams and Paul Drews and Brian Goldfain and James M. Rehg and Evangelos A. Theodorou},
  booktitle = {ICRA 2016},
  year = {2016}
}