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arxiv: 1707.02342 · v1 · pith:XSTVF6FInew · submitted 2017-07-07 · 💻 cs.RO

Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving

Grady Williams , Paul Drews , Brian Goldfain , James M. Rehg , Evangelos A. Theodorou This is my paper
classification 💻 cs.RO
keywords controlmodelpredictiveinformationtheoreticautonomousdrivingmethod
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We present an information theoretic approach to stochastic optimal control problems that can be used to derive general sampling based optimization schemes. This new mathematical method is used to develop a sampling based model predictive control algorithm. We apply this information theoretic model predictive control (IT-MPC) scheme to the task of aggressive autonomous driving around a dirt test track, and compare its performance to a model predictive control version of the cross-entropy method.

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