Reference Tracking on Figure 8 trajectory
0.52Position RMSE (m)SE(3)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| SE(3)||v||max=15.02, ||a||max=17.272025.10 | 0.52 | 1.43 | |
| GMPPI (const noise)||v||max=14.99, ||a||max=16.732025.10 | 0.63 | 7.04 | |
| GMPPI (const ∆t)||v||max=15, ||a||max=20.822025.10 | 0.74 | 6.74 | |
| GMPPI (Ours)||v||max=16.93, ||a||max=19.122025.10 | 0.85 | 8.08 | |
| MPPI||v||max=14.4, ||a||max=16.852025.10 | 0.91 | 31.38 | |
| GMPPI (no SE(3))||v||max=15.55, ||a||max=18.272025.10 | 1.2 | 7.04 |