Integrated motion planning and control under metric interval temporal logic specifications

Dimarogonas, Dimos V. (författare): KTH,Reglerteknik,Decision and Control Systems

(creator_code:org_t)

Institute of Electrical and Electronics Engineers (IEEE), 2019
2019
Engelska.
Ingår i: 2019 18th European Control Conference, ECC 2019. - : Institute of Electrical and Electronics Engineers (IEEE). - 9783907144008 ; , s. 2042-2049

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Abstract Ämnesord

Stäng

This paper proposes an approach that combines motion planning and hybrid feedback control design in order to find and follow trajectories fulfilling a given complex mission involving time constraints. We use Metric Interval Temporal Logic (MITL) as a rich and rigorous formalism to specify such missions. The solution builds on three main steps: (i) using sampling-based motion planning methods and the untimed version of the mission specification in the form of Zone automaton, we find a sequence of waypoints in the workspace; (ii) based on the clock zones from the satisfying run on the Zone automaton, we compute time-stamps at which these waypoints should be reached; and (iii) to control the system to connect two waypoints in the desired time, we design a low-level feedback controller leveraging Time-varying Control Barrier Functions. Illustrative simulation results are included.

Av författaren/redakt...: Barbosa, Fernand ...; Lindemann, Lars; Dimarogonas, Dim ...; Tumova, Jana

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