Model Predictive Path Integral Controller (MPPI) - GitHub
https://github.com/AutoRally/autorally/wiki/Model-Predictive-Path-Integral-Controller-(MPPI)
WebMay 25, 2017 · The model predictive path integral (MPPI) controller is a novel approach for autonomous vehicle control based on stochastic sampling of trajectories. The method is derivative free, and can handle complex non-linear dynamics and cost functions, which makes it ideal for performing aggressive maneuvers with the AutoRally vehicle.
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