This package includes ROS implementation of Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles presented in ICRA 2024.
agile_driving.mp4
- Ubuntu 20.04, 22.04, and 24.04
- Docker
Docker Installation
# Install from get.docker.com
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
sudo groupadd docker
sudo usermod -aG docker $USER
make docker_build
Launch simulator in a new terminal
cd proj-svg_mppi
./script/launch_simulator.sh
Launch controllers in another terminal
cd proj-svg_mppi
# Enter Docker container with GUI support
make bash
# Inside container, launch controllers
./script/launch_controllers.sh
You can change the all MPPI parameters and settings in the yaml file
simulation.mp4
- Ubuntu 20.04
- ROS Noetic
cd proj-svg_mppi
make setup
cd proj-svg_mppi
make build
Launch simulator in the Docker container
cd proj-svg_mppi
./script/launch_simulator.sh
Launch controllers in another terminal
cd proj-svg_mppi
./script/launch_controllers.sh
You can reproduce all simulation results in the paper by one command:
cd proj-svg_mppi/script
./eval_all.sh
Or, You can evaluate a fixed parameters by this command:
cd proj-svg_mppi/script
./eval.sh
Note: The evaluation is used asynchronous simulation using ROS. So, the results can be slightly changed even if all seeds are fixed.
@inproceedings{honda2024stein,
title={Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles},
author={Honda, Kohei and Akai, Naoki and Suzuki, Kosuke and Aoki, Mizuho and Hosogaya, Hirotaka and Okuda, Hiroyuki and Suzuki, Tatsuya},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
pages={7020--7026},
year={2024},
organization={IEEE}
}