Revising motion planning under Linear Temporal Logic specifications in partially known workspaces
Revising motion planning under Linear Temporal Logic specifications in partially known workspaces
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DOI：
10.1109/icra.2013.6631295
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发表时间：
2013-05
期刊：
影响因子：
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通讯作者：
Meng Guo;K. Johansson;Dimos V. Dimarogonas
中科院分区：
文献类型：
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作者：
Meng Guo;K. Johansson;Dimos V. Dimarogonas
在本文中，我们提出了一个通用的框架，实时运动规划模型检查和修订的基础上。的任务规范给出作为一个线性时序逻辑公式在有限的抽象的机器人运动。首先基于系统模型的初始知识生成初步运动规划。然后，在运行过程中获得的实时信息被用来更新系统模型，验证和进一步修改的运动计划。实时执行运动计划的实施和修改。该框架可以应用于部分已知的不确定性和不确定性较大的不确定性。计算机模拟证明了该框架的效率。
In this paper we propose a generic framework for real-time motion planning based on model-checking and revision. The task specification is given as a Linear Temporal Logic formula over a finite abstraction of the robot motion. A preliminary motion plan is first generated based on the initial knowledge of the system model. Then real-time information obtained during the runtime is used to update the system model, verify and further revise the motion plan. The implementation and revision of the motion plan are performed in real-time. This framework can be applied to partially-known workspaces and workspaces with large uncertainties. Computer simulations are presented to demonstrate the efficiency of the framework.