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.
|Title of host publication
|Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - May 6 2017
|2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
Duration: Feb 13 2017 → Feb 15 2017
|2017 IEEE International Conference on Mechatronics, ICM 2017
|2/13/17 → 2/15/17
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
- Mechanical Engineering
- Control and Optimization