MPC Navigation and Obstacle Avoidance on Scalability Benchmark Environments 4 obstacles
6Median IterationsPiP-CBF
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| PiP-CBFHardware=Nvidia Jetson Orin AGX, MPC Solver=Fatrop, MPC Horizon (N)=30, MPC Horizon (Ncbf)=20, Barrier Parameter (gamma)=0.2, Global Reference Path=A*2026.06 | 6 | 184 | 772 | 7 | 10.67 | 100 | |
| D-CBFHardware=Nvidia Jetson Orin AGX, MPC Solver=Fatrop, MPC Horizon (N)=30, MPC Horizon (Ncbf)=20, Barrier Parameter (gamma)=0.2, Global Reference Path=A*2026.06 | 10 | 1,020 | 1,380 | — | — | 100 |