Toward Efficient MPPI Trajectory Generation With Unscented Guidance: U-MPPI Control Strategy

Abstract

The classical Model Predictive Path Integral (MPPI) control framework, while effective in many applications, lacks reliable safety features since it relies due to its reliance on a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">risk-neutral</i> trajectory evaluation technique, which can present challenges for safety-critical applications such as autonomous driving. Furthermore, if when the majority of MPPI sampled trajectories concentrate in high-cost regions, it may generate an <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infeasible</i> control sequence. To address this challenge, we propose the U-MPPI control strategy, a novel methodology that can effectively manage system uncertainties while integrating a more efficient trajectory sampling strategy. The core concept is to leverage the Unscented Transform (UT) to propagate not only the mean but also the covariance of the system dynamics, going beyond the traditional MPPI method. As a result, it introduces a novel and more efficient trajectory sampling strategy, significantly enhancing state-space exploration and ultimately reducing the risk of being trapped in local minima. Furthermore, by leveraging the uncertainty information provided by UT, we incorporate a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">risk-sensitive</i> cost function that explicitly accounts for risk or uncertainty throughout the trajectory evaluation process, resulting in a more resilient control system capable of handling uncertain conditions. By conducting extensive simulations of 2D aggressive autonomous navigation in both known and unknown cluttered environments, we verify the efficiency and robustness of our proposed U-MPPI control strategy compared to the baseline MPPI. We further validate the practicality of U-MPPI through real-world demonstrations in unknown cluttered environments, showcasing its superior ability to incorporate both the UT and local costmap into the optimization problem without introducing additional complexity.

Topics & Concepts