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 Transactions on Intelligent Vehicles 6(2), 353–365 (2020)
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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.