Temporal Logic Based Motion Planning with Infeasible LTL Specification

被引：0

作者：

Xie, Guoshan ^{[1
]}

Yin, Zhihong ^{[2
]}

Li, Jianqing ^{[1
]}

机构：

[1] Zhejiang Univ, Coll Elect Engn, Hangzhou 310027, Peoples R China

[2] CASIC, UAV Technol Inst, Beijing 100074, Peoples R China

来源：

PROCEEDINGS OF THE 32ND 2020 CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2020) | 2020年

基金：

中国国家自然科学基金; 中国博士后科学基金;

关键词：

Motion Planning; Temporal Logic; Infeasible Specification; SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we consider the problem of robot motion planning with the given LTL specification. Informally, the general algorithm to such problem operates in two phases: (i) the high level synthesis phase constructs an available discrete planning; (ii) the low level synthesis phase designs the control inputs of the robot associated with the transitions along the discrete planning. However, when phase (i) fails, that is, the LTL specification is infeasible in the current environment, it is desired that the system can provide a solution to such cases. In this paper, we utilize the relaxed product automaton to obtain a feasible specification that violates the original specification to a minimum extent and construct an implementable motion planning. The specification automaton is revised by adding the minimum number of transition relations that cannot be satisfied. The overall scheme is demonstrated by a case study.

引用

页码：4899 / 4904

页数：6

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