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Authors: Alexander Buyval ; Aidar Gabdullin and Alexander Klimchik

Affiliation: Robotics Institute, Innopolis University, 1 University Street, Innopolis and Russian Federation

Keyword(s): Stochastic Control, Path Integral Control, Model Predictive Control, Dynamic Cost Map.

Abstract: Path planning in a complex dynamic environment is one of the key subsystems in an autonomous vehicle. This paper presents an extension of Model Predictive Path Integral (MPPI) control method which is able to take moving objects into account while path planning and driving. To obtain real-time performance, cost map update with respect to dynamic objects both as basic MPPI is implemented as a set of concurrent processes using CUDA technology. The algorithm’s performance is demonstrated on a model of a stock car in a simulation environment.

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Paper citation in several formats:
Buyval, A.; Gabdullin, A. and Klimchik, A. (2018). Model Predictive Path Integral Control for Car Driving with Dynamic Cost Map. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 248-254. DOI: 10.5220/0006901702480254

@conference{icinco18,
author={Alexander Buyval. and Aidar Gabdullin. and Alexander Klimchik.},
title={Model Predictive Path Integral Control for Car Driving with Dynamic Cost Map},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2018},
pages={248-254},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006901702480254},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Model Predictive Path Integral Control for Car Driving with Dynamic Cost Map
SN - 978-989-758-321-6
IS - 2184-2809
AU - Buyval, A.
AU - Gabdullin, A.
AU - Klimchik, A.
PY - 2018
SP - 248
EP - 254
DO - 10.5220/0006901702480254
PB - SciTePress