Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles
Kohei Honda,Naoki Akai,Kosuke Suzuki,Mizuho Aoki,Hirotaka Hosogaya,Hiroyuki Okuda,Tatsuya Suzuki,Kohei Honda,Naoki Akai,Kosuke Suzuki,Mizuho Aoki,Hirotaka Hosogaya,Hiroyuki Okuda,Tatsuya Suzuki
This paper presents a novel Stochastic Optimal Control (SOC) method based on Model Predictive Path Integral control (MPPI), named Stein Variational Guided MPPI (SVG-MPPI), designed to handle rapidly shifting multimodal optimal action distributions. While MPPI can find a Gaussian-approximated optimal action distribution in closed form, i.e., without iterative solution updates, it struggles with the...
