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[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot
| Date | Stars |
|---|---|
| 2026-07-24 | 251 |
| 2026-07-25 | 252 |
| 2026-07-28 | 254 |
| 2026-07-30 | 254 |
| 2026-08-06 | 254 |
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# mppi_swerve_drive_ros
**MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot**
<div align="center">
[[Website]](https://mizuhoaoki.github.io/projects/iros2024)
[[PDF]](https://mizuhoaoki.github.io/media/papers/IROS2024_paper_mizuhoaoki.pdf)
[[Arxiv]](https://arxiv.org/abs/2409.08648)
[[IEEE Xplore]](https://ieeexplore.ieee.org/document/10802359)
[[Poster]](https://mizuhoaoki.github.io/projects/iros2024_poster.pdf)
[](https://wiki.ros.org/noetic)
[](https://www.docker.com/)
[](https://opensource.org/licenses/MIT)
[](https://iros2024-abudhabi.org/)
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</div>
## Citation
If you use this work in an academic context, please cite the following publication:
```bibtex
@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}}
```
> [!IMPORTANT]
> **More Advanced Controller is Also Open Source!**
> Check **[Nullspace MPC Repository](https://github.com/MizuhoAOKI/nullspace_mpc)**
> Compared to MPPI, it achieves **faster navigation** while ensuring **higher safety**,
> at the cost of **increased computational demand**.
## Setup
### [Option 1] Docker environment
<details>
<summary>CLICK HERE TO EXPAND</summary>
1. Prerequisites
- [docker](https://docs.docker.com/engine/install/ubuntu/)
- For ubuntu users:
```
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
```
- [rocker](https://github.com/osrf/rocker)
- For ubuntu users:
```
sudo apt-get install python3-rocker
```
1. Clone the project repository.
```
cd <path to your workspace>
git clone https://github.com/MizuhoAOKI/mppi_swerve_drive_ros
```
1. Run for the first time setup to build the docker image.
```
cd <path to your workspace>/mppi_swerve_drive_ros
make setup_docker
```
1. Launch the docker container and get into the bash inside.
```
cd <path to your workspace>/mppi_swerve_drive_ros
make run_docker
```
1. [Inside the docker container] Build the project.
```
cd ~/mppi_swerve_drive_ros
make build
```
</details>
### [Option 2] Native environment
<details>
<summary>CLICK HERE TO EXPAND</summary>
1. Prerequisites
- [ubuntu 20.04](https://releases.ubuntu.com/focal/)
- [ros noetic](https://wiki.ros.org/noetic)
1. Clone the project repository.
```
cd <path to your workspace>
git clone https://github.com/MizuhoAOKI/mppi_swerve_drive_ros
```
1. Install foundation packages.
```
cd <path to your workspace>/mppi_swerve_drive_ros
sudo make install_deps
```
1. 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
```
1. Build the project.
```
cd <path to your workspace>/mppi_swerve_drive_ros
make build
```
</details>
## Build
Build thExcerpt of 6,182 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:b7d827d24058433d, topic:robotics, topic:ros, topic:autonomous-driving