Implementation of an MPPI based motion planner for autonomous driving. This code was used for the paper "Towards a Safe Real-Time Motion Planning Framework for Autonomous Driving Systems: An MPPI Approach".
See mppi.mp4.
If you find this work useful or relevant for your research, please cite our paper:
@article{testouri2023towards,
title={Towards a Safe Real-Time Motion Planning Framework for Autonomous Driving Systems: An MPPI Approach},
author={Testouri, Mehdi and Elghazaly, Gamal and Frank, Raphael},
journal={arXiv preprint arXiv:2308.01654},
year={2023}
}See LICENSE.