Linear Temporal Logic-based Mission Planning

Author
Keywords
Abstract
In this paper, we describe the Linear Temporal Logic-based reactive motion planning. We address the problem of motion planning for mobile robots, wherein the goal specification of planning is given in complex environments. The desired task specification may consist of complex behaviors of the robot, including specifications for environment constraints, need of task optimality, obstacle avoidance, rescue specifications, surveillance specifications, safety specifications, etc. We use Linear Temporal Logic to give a representation for such complex task specification and constraints. The specifications are used by a verification engine to judge the feasibility and suitability of plans. The planner gives a motion strategy as output. Finally a controller is used to generate the desired trajectory to achieve such a goal. The approach is tested using simulations on the LTLMoP mission planning tool, operating over the Robot Operating System. Simulation results generated using high level planners and low level controllers work simultaneously for mission planning and controlling the physical behavior of the robot.
Year of Publication
2016
Journal
International Journal of Interactive Multimedia and Artificial Intelligence
Volume
3
Issue
Regular Issue
Number
7
Number of Pages
32-41
Date Published
06/2016
ISSN Number
1989-1660
Citation Key
URL
http://www.ijimai.org/journal/sites/default/files/files/2016/05/ijimai20163_7_5_pdf_16569.pdf
DOI
10.9781/ijimai.2016.375
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