In the realm of autonomous driving technology, significant strides have been made, yet challenges persist. This paper aims to explore the effectiveness of applying a Model Predictive Path Integral (MPPI) controller in autonomous driving technology. The advancement of autonomous driving technology has become one of the hotspots in the automotive industry, with one of its core challenges being the design of control systems capable of safely navigating various complex environments. In this experiment, we selected a scenario with circular obstacles to simulate the obstacle situations that may be encountered on urban roads. The vehicle model takes into account the dynamic characteristics and constraints of the vehicle itself to more realistically simulate actual driving conditions. By demonstrating the navigation and obstacle avoidance capabilities of the MPPI controller in dynamic environments, we hope to prove the potential value of this controller in future autonomous driving scenarios and provide valuable references and insights for the further development of autonomous driving technology.
Application of Model Predictive Path Integral Controller in Autonomous Driving: A Simulation Study
Advances in Computer Science res
International Conference on Image, Algorithms and Artificial Intelligence ; 2024 ; Singapore, Singapore August 09, 2024 - August 11, 2024
Proceedings of the 2024 2nd International Conference on Image, Algorithms and Artificial Intelligence (ICIAAI 2024) ; Chapter : 46 ; 463-471
2024-10-13
9 pages
Article/Chapter (Book)
Electronic Resource
English
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