Encoder-decoder-LSTM based MPPI control strategy for mobile robots in clutter environments

Purpose As an efficient path planning algorithm, MPPI has received significant attention in the field of path tracking and planning for mobile robots. However, traditional MPPI tends to fall into local minima under extremely clutter environments and thus generates infeasible control sequences. To address this problem, an MPPI control algorithm based on encoder-decoder LSTM is proposed to handle the optimal motion planning problem in clutter environments. Design/methodology/approach First, the en