MPPI-IPDDP: A Hybrid Method of Collision-Free Smooth Trajectory Generation for Autonomous Robots

摘要

This article presents a hybrid trajectory optimization method designed to generate collision-free, smooth trajectories for autonomous mobile robots. By combining sampling-based model predictive path integral (MPPI) control with gradient-based interior-point differential dynamic programming (IPDDP), we leverage their respective strengths in exploration and smoothing. The proposed method, MPPI-IPDDP, involves three steps: First, MPPI control is used to generate a coarse trajectory. Second, a collision-free convex corridor is constructed. Third, IPDDP is applied to smooth the coarse trajectory, utilizing the collision-free corridor from the second step. To demonstrate the effectiveness of our approach, we apply the proposed algorithm to trajectory optimization for differential-drive wheeled mobile robots and point-mass quadrotors. In comparisons with other MPPI variants and continuous optimization-based solvers, our method shows superior performance in terms of computational robustness and trajectory smoothness.