https://github.com/taherfattahi/mppi-2d-car-navigation-with-obstacles
A Python-based demonstration of Model Predictive Path Integral (MPPI) control for navigating a simple 2D car model around multiple circular obstacles.
https://github.com/taherfattahi/mppi-2d-car-navigation-with-obstacles
car-navigation-system model-predictive-path-integral mppi
Last synced: about 1 month ago
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A Python-based demonstration of Model Predictive Path Integral (MPPI) control for navigating a simple 2D car model around multiple circular obstacles.
- Host: GitHub
- URL: https://github.com/taherfattahi/mppi-2d-car-navigation-with-obstacles
- Owner: taherfattahi
- License: mit
- Created: 2024-12-29T09:59:02.000Z (6 months ago)
- Default Branch: master
- Last Pushed: 2024-12-29T10:05:10.000Z (6 months ago)
- Last Synced: 2025-05-09T01:48:22.501Z (about 1 month ago)
- Topics: car-navigation-system, model-predictive-path-integral, mppi
- Language: Python
- Homepage:
- Size: 173 KB
- Stars: 5
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# mppi-2d-car-navigation-with-obstacles
A Python-based demonstration of **Model Predictive Path Integral (MPPI)** control for navigating a simple 2D car model around multiple circular obstacles. This repository showcases how to implement MPPI to minimize a custom cost function while avoiding collisions, and includes an animated Matplotlib visualization of the resulting trajectory.
## Features
- **2D car dynamics**: A simple kinematic model with constant forward velocity and steering angle control.
- **MPPI planning**: Generates multiple control (steering) sequences, rolls them out, computes costs, and uses weighted samples to refine control.
- **Collision avoidance**: Penalizes collisions with circular obstacles scattered in the environment.
- **Animation**: Visualizes the car’s path, obstacles, and goal state.
## Requirements
- Python 3.x
- [NumPy](https://numpy.org/)
- [Matplotlib](https://matplotlib.org/)
To install the required libraries via pip:
```bash
pip install numpy matplotlib
```
## Usage
Clone or download this repository:
```bash
git clone https://github.com/taherfattahi/mppi-2d-car-navigation-with-obstacles.git
```
Navigate into the project directory:
```bash
cd mppi-2d-car-navigation-with-obstacles
```
Run the main script to see the animation:
```bash
python mppi_2d_car_navigation.py
```
When you run the script, a Matplotlib window will appear, showing:
- The start state (green dot)
- The goal state (red “x”)
- Obstacles (orange circles)
- The computed trajectory (blue line)
Each iteration of the MPPI planner selects a control sequence, rolls out, and updates the car’s path until the goal is reached.
## Code Structure
- ```car_dynamics(state, steering_angle, dt, v)```
Simple car model that updates position and heading based on the current steering angle and velocity.
- ```compute_cost(states, goal, obstacles, penalty)```
Calculates the cost of a trajectory, penalizing collisions and final distance to goal.
- ```mppi_iteration(...)```
The core MPPI step: generates random control sequences, rolls them out, computes costs, and computes weighted averages.
- ```run_mppi_control_loop(...)```
Runs multiple MPPI iterations in a loop to drive from the initial to the goal state.
- ```main_animation_demo()```
Sets up the problem (initial state, goal state, obstacles) and runs the MPPI loop. Renders an animation of the car’s path.
## Customization
- Obstacle configuration: You can add, remove, or change ```obstacles``` in the obstacles list.
- Car speed and steering: Adjust the velocity ```v``` or the random steering distribution to see different behaviors.
- Cost function: Change penalty values or the cost term to account for intermediate states, time cost, etc.
## License
This project is released under the MIT License. Feel free to use, modify, and distribute for your own projects.
## Resources
- [Model Predictive Path Integral (MPPI) - A Quick Introduction](https://dilithjay.com/blog/mppi)
- [Model Predictive Path Integral (MPPI) Control in C++](https://markus-x-buchholz.medium.com/model-predictive-path-integral-mppi-control-in-c-b13ea594ca20)
- [ROS TurtleBot Navigation from Scratch](https://github.com/bostoncleek/ROS-Turtlebot-Navigation/tree/master)