2 papers
cs.RO2024
MPPI-IPDDP: Hybrid Method of Collision-Free Smooth Trajectory Generation for Autonomous Robots
Min-Gyeom Kim, Minchan Jung, JunGee Hong +1
This paper presents a hybrid trajectory optimization method designed to generate collision-free, smooth trajectories for autonomous mobile robots. By combining sampling-based Model…
cs.RO2024
BiC-MPPI: Goal-Pursuing, Sampling-Based Bidirectional Rollout Clustering Path Integral for Trajectory Optimization
Minchan Jung, Kwangki Kim
This paper introduces the Bidirectional Clustered MPPI (BiC-MPPI) algorithm, a novel trajectory optimization method aimed at enhancing goal-directed guidance within the Model Predi…