[1]JIAO Mengtian,SONG Yunzhong.Receding horizon control path planning with linear temporal logic constraints[J].CAAI Transactions on Intelligent Systems,2020,15(2):281-288.[doi:10.11992/tis.201810038]
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Receding horizon control path planning with linear temporal logic constraints
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
15
Number of periods:
2020 2
Page number:
281-288
Column:
学术论文—智能系统
Public date:
2020-03-05
- Title:
- Receding horizon control path planning with linear temporal logic constraints
- Keywords:
- linear temporal logic; receding horizon control; path planning; optimal control; finite deterministic systems; Büchi automaton; product automaton; terrain factor
- CLC:
- TP273
- DOI:
- 10.11992/tis.201810038
- Abstract:
- To address the path planning problem in finite deterministic systems, we propose a new method based on linear temporal logic constraints for the online real-time solution of receding horizon control. This method combines a receding horizon control method with a strategy that satisfies a linear temporal logic formula. The control objective is to maximize the collected reward while satisfying the high-level task specification, where the rewards are locally optimized at each time step over a finite horizon, and the immediate optimal control computed for the current time step is applied. By enforcing the appropriate constraints, the infinite trajectory produced by the controller is guaranteed to satisfy the desired temporal logic formula. Furthermore, by introducing the terrain factor, the results can be easily obtained. The simulation results indicate the feasibility and effectiveness of the proposed method.
- References:
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