Temporal logic motion planning for dynamic robots

Georgios E. Fainekos, Antoine Girard, Hadas Kress-Gazit, George J. Pappas

Research output: Contribution to journalArticle

241 Scopus citations

Abstract

In this paper, we address the temporal logic motion planning problem for mobile robots that are modeled by second order dynamics. Temporal logic specifications can capture the usual control specifications such as reachability and invariance as well as more complex specifications like sequencing and obstacle avoidance. Our approach consists of three basic steps. First, we design a control law that enables the dynamic model to track a simpler kinematic model with a globally bounded error. Second, we built a robust temporal logic specification that takes into account the tracking errors of the first step. Finally, we solve the new robust temporal logic path planning problem for the kinematic model using automata theory and simple local vector fields. The resulting continuous time trajectory is provably guaranteed to satisfy the initial user specification.

Original languageEnglish (US)
Pages (from-to)343-352
Number of pages10
JournalAutomatica
Volume45
Issue number2
DOIs
StatePublished - Feb 1 2009
Externally publishedYes

Keywords

  • Hierarchical control
  • Hybrid systems
  • Motion planning
  • Robustness
  • Temporal logic

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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