Trajectory Optimization on 2D Car
2.1Mean Execution Time (ms)MPPI
Evaluation results
| Method | Links | ||
|---|---|---|---|
| MPPILook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 2.1 | 0.31 | |
| MPPILook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 2.22 | 0.47 | |
| DDPLook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 19.46 | 3.06 | |
| MG-ME-DDPLook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 23.96 | 1.1 | |
| UG-ME-DDPLook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 24.45 | 1.54 | |
| SV-DDPLook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 25.53 | 3.61 | |
| DDPLook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 25.7 | 3.12 | |
| MG-ME-DDPLook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 32.25 | 1.28 | |
| UG-ME-DDPLook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 32.39 | 1.15 | |
| SV-DDPLook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 33.54 | 3.78 |