文章基本信息

标题：An LTL-Based Motion and Action Dynamic Planning Method for Autonomous Robot *
本地全文：下载
作者：Ning Xu ; Jie Li ; Yifeng Niu 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：5
页码：91-96
DOI：10.1016/j.ifacol.2016.07.095
语种：English
出版社：Elsevier
摘要：AbstractLTL-based languages provide a formal and expressive way to specify high-level complex motion and action tasks for autonomous robots. Based on LTL task specification, a method to dynamically generate motion and action sequences for a robot is proposed. Firstly, the environment knowledge, robot’s motion and action capabilities are described respectively based on the partitioned regions. Secondly, a weighted finite transition system is constructed from these models to capture the robot’s full functionality and the knowledge of environment. Thirdly, a dynamic planning framework is put forward considering environment update or operations failure. Finally, a fire-fighting case is simulated to demonstrate the effectiveness of the approach.
关键词：KeywordsLTLMotionaction planningDynamic mission planning