Co-design of Control and Planning for Multi-rotor UAVs with Signal Temporal Logic Specifications
Co-design of Control and Planning for Multi-rotor UAVs with Signal Temporal Logic Specifications
复制标题
信号时序逻辑规范的多旋翼无人机控制与规划协同设计
DOI：
10.23919/acc50511.2021.9483206
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
S. Seshia
中科院分区：
文献类型：
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作者：
Y. Pant;He Yin;M. Arcak;S. Seshia
城市空中交通（UAM），即多架有人驾驶和无人驾驶飞行器（UAV）在城市空域执行各种任务的场景，是一个日益受到重视的未来交通概念。具有复杂空间、时间和反应要求的 UAM 任务可以使用信号时态逻辑 (STL)（一种行为规范语言）来简洁地表示。然而，具有STL规范的系统的规划和控制是计算密集型的，通常导致规划方法不能保证动态可行性，或者控制方法不能处理复杂的STL规范。在这里，我们提出了一种共同设计规划器和控制的方法，以便给定的 STL 规范（可能在多个无人机上）满足动态可行的轨迹，并且我们的控制器可以使用规划器所考虑的有界跟踪误差来跟踪它们。跟踪控制器是针对单个无人机的非线性动力学而制定的，并且当轨迹满足某些运动学约束时，计算该控制器的跟踪误差范围。我们还增强了现有的基于 STL 的多无人机轨迹生成器，以生成满足此类约束的轨迹。我们证明，这种协同设计允许轨迹满足给定的 STL 规范，并且在可以以有限误差跟踪它们的意义上也是动态可行的。通过多无人机任务的模拟证明了该方法的适用性。
Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a transportation concept of the future that is gaining prominence. UAM missions with complex spatial, temporal and reactive requirements can be succinctly represented using Signal Temporal Logic (STL), a behavioral specification language. However, planning and control of systems with STL specifications is computationally intensive, usually resulting in planning approaches that do not guarantee dynamical feasibility, or control approaches that cannot handle complex STL specifications. Here, we present an approach to co-design the planner and control such that a given STL specification (possibly over multiple UAV s) is satisfied with trajectories that are dynamically feasible and our controller can track them with a bounded tracking-error that the planner accounts for. The tracking controller is formulated for the non-linear dynamics of the individual UAVs, and the tracking error bound is computed for this controller when the trajectories satisfy some kinematic constraints. We also augment an existing multi-UAV STL-based trajectory generator in order to generate trajectories that satisfy such constraints. We show that this co-design allows for trajectories that satisfy a given STL specification, and are also dynamically feasible in the sense that they can be tracked with bounded error. The applicability of this approach is demonstrated through simulations of multi- UAV missions.
用于规划的连续和离散抽象，应用于船舶停靠
DOI：
--
发表时间：
2020
期刊：
IFAC World Congress 2020
影响因子：
--
作者：
Meyer, Pierre-Jean;Yin, He;Brodtkorb, A.H.;Arcak, M.;Sorensen, A.
通讯作者：
Sorensen, A.