Simple MPPI Implementation with Python

Model Predictive Path-Integral (MPPI) Control [G. Williams et al., 2018] is a promising sampling-based optimal control algorithm.
This repository is for understanding the basic idea of the algorithm.

Dependency

python
- version 3.10 or higher is recommended.
poetry
- setting up python environment easily and safely.
- only numpy, matplotlib, notebook are needed to run all scripts in this repository.
ffmpeg
- mp4 movie writer
- installation details
  - For Ubuntu Users
    - sudo apt-get update
    - sudo apt-get -y install ffmpeg
  - For Windows Users
    - Install scoop
    - scoop install ffmpeg
  - For macOS Users
    - Install homebrew
    - brew install ffmpeg
  - Check the official website if necessary
    - https://ffmpeg.org/

Setup

git clone https://github.com/MizuhoAOKI/python_simple_mppi.git
cd python_simple_mppi
poetry install

Usage

Path Tracking

Simple Path Tracking

Run simulation

cd python_simple_mppi
poetry run python scripts/mppi_pathtracking.py

Run jupyter notebook if you would like to check mathematical explanations on the algorithm.
```
cd python_simple_mppi
poetry run jupyter notebook notebooks/mppi_pathtracking.ipynb
```

Path Tracking with Obstacle Avoidance

Run simulation

cd python_simple_mppi
poetry run python scripts/mppi_pathtracking_obav.py

Run jupyter notebook if you would like to check mathematical explanations on the algorithm.
```
cd python_simple_mppi
poetry run jupyter notebook notebooks/mppi_pathtracking_obav.ipynb
```

Pendulum

Run simulation to swing up a pendulum.

cd python_simple_mppi
poetry run python scripts/mppi_pendulum.py

Run jupyter notebook if you would like to check mathematical explanations on the algorithm.
```
cd python_simple_mppi
poetry run jupyter notebook notebooks/mppi_pendulum.ipynb
```

CartPole

Run simulation of cartpole

cd python_simple_mppi
poetry run python scripts/mppi_cartpole.py

Run jupyter notebook if you would like to check mathematical explanations on the algorithm.
```
cd python_simple_mppi
poetry run jupyter notebook notebooks/mppi_cartpole.ipynb
```

References

G. Williams et al. "Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving"
- URL : https://ieeexplore.ieee.org/document/8558663
- PDF : https://arxiv.org/pdf/1707.02342.pdf