Shield-MPPI 将基于采样的规划与通过 Control Barrier Functions (CBFs) 实现的安全保障相结合，在 F1TENTH 平台上实现了实时、鲁棒的自主赛车轨迹生成。该系统集成了基于 EKF 的跟踪、Spline 规避规划和模块化 ROS2 架构，以确保动态赛车条件下的安全性。
May 17, 2025
Shield-MPPI combines sampling-based planning and safety enforcement through Control Barrier Functions (CBFs), enabling real-time, robust trajectory generation for autonomous racing on the F1TENTH platform. The system integrates EKF-based tracking, spline evasion planning, and a modular ROS2 architecture to ensure safety under dynamic racing conditions.
May 17, 2025