Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications
Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications
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DOI：
10.1109/tro.2020.3031254
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发表时间：
2021-04-01
影响因子：
7.8
通讯作者：
Coogan, Samuel
中科院分区：
文献类型：
--
作者：
Srinivasan, Mohit;Coogan, Samuel
在这篇文章中，我们提出了一个框架的移动的机器人的时间逻辑规范使用障碍函数的控制。复杂的任务规范可以方便地使用线性时序逻辑编码。特别是，我们认为一个片段的线性时序逻辑，其中包括一个大类的机器人系统的运动规划规范。控制屏障功能最近已经成为一种方便的工具，以保证系统的可达性和安全性。此外，它们可以被编码为二次规划中的仿射约束。在这篇文章中，一个全自动的框架，翻译用户定义的规范在时序逻辑的一系列障碍函数为基础的二次规划。此外，为了减轻不可行的情况下，我们提出的方法组成的障碍功能，以及基于优先级的控制方法，以保证控制器的可行性。我们证明了所提出的控制器合成的系统轨迹满足给定的规格。机器人仿真和实验结果提供除了理论框架。
In this article, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we consider a fragment of linear temporal logic, which encompasses a large class of motion planning specifications for a robotic system. Control barrier functions have recently emerged as a convenient tool to guarantee reachability and safety for a system. In addition, they can be encoded as affine constraints in a quadratic program. In this article, a fully automatic framework that translates a user defined specification in temporal logic to a sequence of barrier function based quadratic programs is presented. In addition, with the aim of alleviating infeasibility scenarios, we propose methods for composition of barrier functions as well as a prioritization-based control method to guarantee feasibility of the controller. We prove that the resulting system trajectory synthesized by the proposed controller satisfies the given specification. Robotic simulation and experimental results are provided in addition to the theoretical framework.