US 2026/0277227 A1 · RISK AWARE MODEL PREDICTIVE PATH INTEGRAL CONTROL FOR STOCHASTIC HYBRID SYSTEMS

Risk aware model predictive path integral control for stochastic hybrid systems

AssigneesToyota Motor Engineering & Manufacturing North America, Inc., The Regents of the University of Michigan, Toyota Jidosha Kabushiki Kaisha

InventorsHardik Parwana, Mitchell Black, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Danil V. Prokhorov, Dimitra Panagou

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Abstract

A computer-implemented method of path planning for a mobile robot in a dynamic environment is provided, the method includes modeling awareness of an agent for the path planning. An Expansion-Compression (EC) Unscented Transform (UT) Model Predictive Path Integral (MPPI) controller comprising an ECUT algorithm and MPPI algorithm is used for the path planning by sampling possible trajectories of the mobile robot around a nominal trajectory and assigning weights to the trajectories based on a cost incurred. A final trajectory of the mobile robot is determined from a weighted summation of all the sampled trajectories.

Claims20

Dependent claims

A computer-implemented method of path planning for a mobile robot in a dynamic environment, the method comprising:

modeling awareness of an agent for the path planning;
using an Expansion-Compression (EC) Unscented Transform (UT) Model Predictive Path Integral (MPPI) controller comprising an ECUT algorithm and MPPI algorithm for the path planning by sampling possible trajectories of the mobile robot around a nominal trajectory and assigning weights to the trajectories based on a cost incurred;
and
determining a final trajectory of the mobile robot from a weighted summation of all the sampled trajectories.

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