Domain-specific Hardware Acceleration for Model Predictive Path Integral Control

摘要

Accurately controlling a robotic system in real time is a challenging problem. To address this, the robotics community has adopted various algorithms, such as Model Predictive Control (MPC) and Model Predictive Path Integral (MPPI) control. The first is difficult to implement on non-linear systems such as unmanned aerial vehicles, whilst the second requires a heavy computational load. GPUs have been successfully used to accelerate MPPI implementations; however, their power consumption is often excessive for autonomous or unmanned targets, especially when battery-powered. On the other hand, custom designs, often implemented on FPGAs, have been proposed to accelerate robotic algorithms while consuming considerably less energy than their GPU (or CPU) implementation. However, no MPPI custom accelerator has been proposed so far. In this work, we present a hardware accelerator for MPPI control and simulate its execution. Results show that the MPPI custom accelerator allows more accurate trajectories than GPU-based MPPI implementations.