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Improving MPPI for High-Inertia Industrial Vehicles

Authors: Steven Macenski

Published: 2026 (Blog Post)

Source: Open Navigation

Algorithm: Nav2 MPPI acceleration constraints

Summary

Engineering post dissecting why Nav2 MPPI struggled with low acceleration limits on heavy robots, especially the distinction between control velocities and rollout state velocities. The useful contribution is a concrete diagnosis of inter-iteration feasibility and timing mismatches between model_dt and the controller period.

Abstract

Deep dive into improving Nav2's MPPI controller to properly respect low acceleration constraints for heavy industrial robots.

Primary

Paper opennav.org

Alternate

GitHub: ros-navigation/navigation2 github.com GitHub: ros-navigation/navigation2 github.com GitHub: ros-navigation/navigation2 github.com

Tags

  • MPPI

  • Nav2

  • Acceleration constraints

  • Industrial robots

  • Model predictive control

  • Robot navigation