GP-Guided MPPI for Efficient Navigation in Complex Unknown Cluttered Environments
Ihab S. Mohamed,Mahmoud Ali,Lantao Liu,Ihab S. Mohamed,Mahmoud Ali,Lantao Liu
Robotic navigation in unknown, cluttered environ-ments with limited sensing capabilities poses significant chal-lenges in robotics. Local trajectory optimization methods, such as Model Predictive Path Intergal (MPPI), are a promising solution to this challenge. However, global guidance is required to ensure effective navigation, especially when encountering challenging environmental conditions or ...