BiC-MPPI

Implementation of the BiC-MPPI (Bidirectional Clustering Model Predictive Path Integral) in C++.

Bi_MPPI_Video_Test_comp.mp4

Preparation

Dependancy

EigenRand needs to be named as same as in CMakeLists.txt.

• Eigen 3.3.9
• EigenRand
• OpenMP

Map Download and Modification

git clone https://github.com/i-ASL/BiC-MPPI.git
cd BiC-MPPI

Please download BARN_dataset/grid_files from BARN_dataset

cd BARN_dataset
python3 npy_to_txt.py

Map modification in the BARN dataset with extended boundaries and inflated obstacles

Usage

Point-mass quadrotor landing problem

cd BiC-MPPI
mkdir build && cd build
cmake.. -Dquadrotor=1 && make
./bi_mppi   # or other variants (mppi, log_mppi, cluster_mppi)

	Native	Log-MPPI	Cluster-MPPI	BiC-MPPI (ours)
No. Sim.	300	300	300	300
No. Failure	78	170	81	10
Avg. Iter.	82.302	99.946	84.954	35.866
Avg. Time [s]	5.642	10.437	7.768	2.456
Avg. Err (x, y)	2.105	6.592	2.011	0.531
Q1	0.773	4.500	0.829	0.263
Q2	1.367	6.604	1.359	0.433
Q3	2.694	8.821	2.490	0.692

Q1, Q2, Q3 represent the quantiles of error (x, y), respectively.

Wheeled mobile robot moving

cd BiC-MPPI
mkdir build && cd build
cmake.. -Dquadrotor=0 && make
./bi_mppi   # or other variants (mppi, log_mppi, cluster_mppi)

	MPPI	Log-MPPI	Cluster-MPPI	BiC-MPPI (ours)
No. Sim.	600	600	600	600
No. Failure	117	107	119	79
Success Rate	0.805	0.822	0.802	0.868
Avg. Iter.	101.650	103.919	101.004	88.198
Avg. Time [s]	2.766	4.161	7.356	3.346