Reference Tracking on Hypotrochoid trajectory
0.53Positional RMSE (m)GMPPI (const ∆t)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| GMPPI (const ∆t)||v||max=15.81, ||a||max=29.152025.10 | 0.53 | 12.07 | |
| GMPPI (Ours)||v||max=16.64, ||a||max=24.022025.10 | 0.84 | 11.27 | |
| SE(3)||v||max=16.45, ||a||max=21.822025.10 | 0.85 | 1.68 | |
| GMPPI (const noise)||v||max=18.64, ||a||max=46.192025.10 | 0.875 | 12.8 | |
| MPPI||v||max=18.35, ||a||max=22.222025.10 | 1.06 | 70.53 | |
| GMPPI (no SE(3))||v||max=18.19, ||a||max=48.462025.10 | 2.41 | 25.92 |