Hybrid A*-Guided Model Predictive Path Integral Control for Robust Navigation in Rough Terrains

Hybrid A*-Guided Model Predictive Path Integral Control for Robust Navigation in Rough Terrains

Navigating rough terrains requires a robust path planning algorithm that accounts for the physical properties of the environment to maintain stability and ensure safety. This article proposes the Hybrid A*-guided Model Predictive Path Integral (MPPI) algorithm augmented with traversability estimatio...

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Bibliographic Details
Main Authors: Joonyeol Yang , Minhyeong Kang , Seulchan Lee, Sanghyun Kim
Format: Article
Language:English
Published: MDPI AG 2025-02-01
Series:Mathematics
Subjects:
autonomous navigation
traversability estimation
path planning
model predictive path integral
Online Access:https://www.mdpi.com/2227-7390/13/5/810
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