A linear temporal logic based approach for vehicle motion planning

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    We consider a vehicle path planning problem under the model of a finite transition system. We start with a continuous model for the motion planning problem. By partitioning the state space of the continuous model, we formulate the motion planning problem as a problem of designing switching controller for the finite transition system. We use linear temporal logic (LTL) formulas to describe the behavior of the transition system and the objective of motion planning. Using the LTL planning software toolbox: TuLip, we obtain a switching controller that guarantees the satisfaction of all the LTL formulas we have defined. Under such switching strategy, the vehicle will always avoid colliding with other vehicles while eventually recovering to a desired constant velocity.

    Original languageEnglish (US)
    Title of host publicationProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages25-30
    Number of pages6
    ISBN (Electronic)9781509045389
    DOIs
    StatePublished - May 6 2017
    Event2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
    Duration: Feb 13 2017Feb 15 2017

    Other

    Other2017 IEEE International Conference on Mechatronics, ICM 2017
    CountryAustralia
    CityGippsland
    Period2/13/172/15/17

    All Science Journal Classification (ASJC) codes

    • Electrical and Electronic Engineering
    • Mechanical Engineering
    • Control and Optimization

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