MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot
If you use this work in an academic context, please cite the following publication:
@inproceedings{mizuho2024iros
author={Aoki, Mizuho and Honda, Kohei and Okuda, Hiroyuki and Suzuki, Tatsuya},
booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation},
year={2024},
volume={},
number={},
pages={3196-3203},
doi={10.1109/IROS58592.2024.10802359}}CLICK HERE TO EXPAND
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Prerequisites
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Clone the project repository.
cd <path to your workspace> git clone https://github.com/MizuhoAOKI/mppi_swerve_drive_ros -
Run for the first time setup to build the docker image.
cd <path to your workspace>/mppi_swerve_drive_ros make setup_docker -
Launch the docker container and get into the bash inside.
cd <path to your workspace>/mppi_swerve_drive_ros make run_docker -
[Inside the docker container] Build the project.
cd ~/mppi_swerve_drive_ros make build
CLICK HERE TO EXPAND
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Prerequisites
-
Clone the project repository.
cd <path to your workspace> git clone https://github.com/MizuhoAOKI/mppi_swerve_drive_ros -
Install foundation packages.
cd <path to your workspace>/mppi_swerve_drive_ros sudo make install_deps -
Initialize rosdep, update it, and install dependencies.
cd <path to your workspace>/mppi_swerve_drive_ros sudo rosdep init rosdep update rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro noetic -
Build the project.
cd <path to your workspace>/mppi_swerve_drive_ros make build
Build the project.
cd <path to your workspace>/mppi_swerve_drive_ros
make build
(Optional) Clean the cache before building the project if necessary.
cd <path to your workspace>/mppi_swerve_drive_ros
make clean
cd <path to your workspace>/mppi_swerve_drive_ros
source /opt/ros/noetic/setup.bash && source ./devel/setup.bash
roslaunch launch/gazebo_world.launch gazebo_world_name:=mazegazebo_world_nameoptions:emptyempty_gardencylinder_gardenmaze
- Default joystick path is
/dev/input/js0. If you want to change the path, please editmppi_swerve_drive_ros/src/operation/joy_controller/config/joy.yaml.
- Try MPPI-3D(a) (driving faster but dangerous sometimes)
cd <path to your workspace>/mppi_swerve_drive_ros source /opt/ros/noetic/setup.bash && source ./devel/setup.bash roslaunch launch/navigation.launch local_planner:=mppi_3d_a
- Try MPPI-3D(b) (relatively safe but driving slower)
cd <path to your workspace>/mppi_swerve_drive_ros source /opt/ros/noetic/setup.bash && source ./devel/setup.bash roslaunch launch/navigation.launch local_planner:=mppi_3d_b
- Try MPPI-4D (safe but relatively slow)
cd <path to your workspace>/mppi_swerve_drive_ros source /opt/ros/noetic/setup.bash && source ./devel/setup.bash roslaunch launch/navigation.launch local_planner:=mppi_4d
- [Author's Recommendation] ⭐Try MPPI-H⭐ (good balance between quickness and safety)
cd <path to your workspace>/mppi_swerve_drive_ros source /opt/ros/noetic/setup.bash && source ./devel/setup.bash roslaunch launch/navigation.launch local_planner:=mppi_h
demo_mppi_swerve_drive_ros.mp4
Note
Due to asynchronous simulation on ROS and the sampling-based algorithm relying on multi-threading computation, the controllers' performance can vary depending on a user's environment.