Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

Kohei Honda, Naoki Akai, Kosuke Suzuki +4

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…