A multi-modal sampling-based controller, combining Sobol sequences with analytical braking, acceleration, and evasive modes, outperforms a standard MPPI baseline in simulated high- and low-friction collision-avoidance scenarios.
IEEE Transac- tions on Vehicular Technology 73(9), 12731–12746 (2024)
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Multi-Modal Model Predictive Path Integral Control for Collision Avoidance
A multi-modal sampling-based controller, combining Sobol sequences with analytical braking, acceleration, and evasive modes, outperforms a standard MPPI baseline in simulated high- and low-friction collision-avoidance scenarios.