Name
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. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/ICMECH.2017.7921075 | 2017 IEEE International Conference on Mechatronics (ICM) |
Keywords | Field | DocType |
linear temporal logic,vehicle motion planning,vehicle path planning,finite transition system,state space,LTL formulas,software toolbox,TuLip,switching controller | Transition system,Motion planning,Continuous modelling,Control theory,Control theory,Toolbox,Linear temporal logic,Control engineering,Software,State space,Mathematics | Conference |
ISBN | Citations | PageRank |
978-1-5090-4539-6 | 0 | 0.34 |
References | Authors | |
14 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dule Shu | 1 | 0 | 0.34 |
| Constantino M. Lagoa | 2 | 164 | 25.38 |