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.
Goto matlab_implementation directory in MATLAB and run
MPPI_Pendulum.m
