Synthesis of output feedback control for motion planning based on LTL specifications

Authors:
Min Wu;Gangfeng Yan;Zhiyun Lin;Ying Lan
Affiliations:
Asus Intelligent Systems Lab, Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Asus Intelligent Systems Lab, Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Asus Intelligent Systems Lab, Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Asus Intelligent Systems Lab, Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 10
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Abstract

In the paper, we study the motion planning problem of a mobile robot in the plane. The goal is to design output feedback control such that the resulting path of a mobile robot satisfies desired linear temporal logic (LTL) specifications. Our control strategy is divided into a local output feedback control problem and a supervisory control for LTL specifications. For the former one, we design output feedback control laws to ensure that output trajectories either remain in a simplex, or leave the simplex and enter an adjacent simplex in finite time. For the latter, we construct a transition system based on reachability and search for feasible paths that satisfy the LTL specifications. In this way, a piecewise affine output feedback control is obtained to solve the motion planning problem. A simulation result is presented to illustrate our approach.