线性时序逻辑约束下的滚动时域控制路径规划

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Title:

Receding horizon control path planning with linear temporal logic constraints

作者:

焦梦甜, 宋运忠

河南理工大学 电气工程与自动化学院, 河南 焦作 454003

Author(s):

JIAO Mengtian, SONG Yunzhong

School of Electrical Engineering and Automation, He’nan Polytechnic University, Jiaozuo 454003, China

关键词:

线性时序逻辑; 滚动时域控制; 路径规划; 最优控制; 有限确定性系统; Büchi自动机; Product自动机; 地势影响因子

Keywords:

linear temporal logic; receding horizon control; path planning; optimal control; finite deterministic systems; Büchi automaton; product automaton; terrain factor

分类号:

TP273

DOI:

10.11992/tis.201810038

摘要:

针对有限确定性系统中的路径规划问题，本文提出了一种线性时序逻辑约束下的在线实时求解滚动时域控制的新方法。该方法将滚动时域控制方法和满足线性时序逻辑公式的策略相结合，控制目标是在满足高级别任务规范的同时，使收集的累积回报值最大化。其中，在有限时域内的每个时间步长上局部优化回报值，并应用当前时刻计算获得的最优控制序列。通过执行适当的约束，保证控制器产生的无限轨迹满足期望的时序逻辑公式。而且，由于地势影响因子的引入，所建议的方案更接近于真实情况。仿真实验结果验证了文中提出方法的可行性和有效性。

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.