controls-project

Study of PI based stochastic optimal control and Implementation of MPPI for Aggressive Driving

This project was submitted as a course project for RBE502 - Robot Control in Spring 2018 at Worcester Polytechnic Institute.

Course page - https://users.wpi.edu/~jfu2/rbe502/index.html

The project is to conduct a study on Model Predictive Path Integral (MPPI) Control and implement the same for aggressive driving for a car-like robot. This is primarily based on work presented in

• Aggressive driving with model predictive path integral control
• Model Predictive Path Integral Control: From Theory to Parallel Computation
• Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving

For more details on the work, check this report.

How to run

Goto matlab_implementation directory in MATLAB and run

MPPI_Pendulum.m

Result