A linear temporal logic based approach for vehicle motion planning

Dule Shu; Constantino Manuel Lagoa

doi:10.1109/ICMECH.2017.7921075

A linear temporal logic based approach for vehicle motion planning

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	25-30
Number of pages	6
ISBN (Electronic)	9781509045389
DOIs	https://doi.org/10.1109/ICMECH.2017.7921075
State	Published - May 6 2017
Event	2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia Duration: Feb 13 2017 → Feb 15 2017

Other

Other	2017 IEEE International Conference on Mechatronics, ICM 2017
Country/Territory	Australia
City	Gippsland
Period	2/13/17 → 2/15/17

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering
Mechanical Engineering
Control and Optimization

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10.1109/ICMECH.2017.7921075

Cite this

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title = "A linear temporal logic based approach for vehicle motion planning",

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.",

author = "Dule Shu and Lagoa, {Constantino Manuel}",

year = "2017",

month = may,

day = "6",

doi = "10.1109/ICMECH.2017.7921075",

language = "English (US)",

pages = "25--30",

booktitle = "Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2017 IEEE International Conference on Mechatronics, ICM 2017 ; Conference date: 13-02-2017 Through 15-02-2017",

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Shu, D & Lagoa, CM 2017, A linear temporal logic based approach for vehicle motion planning. in Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017., 7921075, Institute of Electrical and Electronics Engineers Inc., pp. 25-30, 2017 IEEE International Conference on Mechatronics, ICM 2017, Gippsland, Australia, 2/13/17. https://doi.org/10.1109/ICMECH.2017.7921075

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AU - Lagoa, Constantino Manuel

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N2 - 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.

AB - 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.

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BT - Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Mechatronics, ICM 2017

Y2 - 13 February 2017 through 15 February 2017

ER -

A linear temporal logic based approach for vehicle motion planning

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