LTL Motion Planning with Collision Avoidance for A Team of Quadrotors

• Main Author: Xu, Ziwei
• Format: Others
• Language: English
• Published: KTH, Skolan för elektro- och systemteknik (EES) 2016
• Subjects: Finite transition system(FTS); Linear Temporal Logic(LTL) formula; Büchi automaton(BA); Optimal path; Robotic operating system(ROS)
• Online Access: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-196904

Linear Temporal Logic (LTL), as one of the temporal logic, can generate a fully automated correct-by-design controller synthesis approach for single or multiple autonomous vehicles, under much more complex missions than the traditional point-to-point navigation.In this master thesis, a framework which combines model- checking-based robot motion planning with action planning is proposed based on LTL for-mulas. The specifications implicitly require both sequential regions for multi-agent to visit and the desired actions to perform at these regions while avoid-ing collision with each other and fixed obstacles. The high level motion and task planning and low level navigation function based collision avoidance controller are verified by nontrivial simulation and implementation on real quadcopter in Smart Mobility Lab.