arxivcs.RO2026-07-07
MP-MPPI: A Motion Primitive Guided Sampling-Based Optimizer for Model Predictive Control
Marlon Mathisen, Aksel Vaaler, Olav Egeland, Eleni Kelasidi
This paper proposes a novel method that extends the Model Predictive Path Integral (MPPI) method with motion primitives for additional structured sampling, which enhances the convergence towards a globally optimal solution. By evaluating motion primitives and perturbed control se…