BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
This work integrates Model Predictive Path Integral (MPPI) control with Control Barrier Function (CBF) conditions to solve optimal control problems with multiple inequality constraints. By using CBF-like conditions to guide trajectory sampling, the method improves MPPI's efficiency and allows for better operation near safety boundaries.