Chance-Constrained Multilayered Sampling-Based Path Planning for Temporal Logic-Based Missions
- Title
- Chance-Constrained Multilayered Sampling-Based Path Planning for Temporal Logic-Based Missions
- Author
- 오윤선
- Keywords
- Linear temporal logic (LTL); path planning; probabilistic guarantee
- Issue Date
- 2020-12
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE TRANSACTIONS ON AUTOMATIC CONTROL, v. 66, no. 12, page. 5816-5829
- Abstract
- This article introduces a robust and safe path planning algorithm in order to satisfy mission requirements specified in linear temporal logic (LTL). When a path is planned to accomplish a mission, it is possible for a robot to fail to complete the mission or collide with obstacles due to noises and disturbances in the system. Hence, we need to find a robust path against possible disturbances. We introduce a robust path planning algorithm, which maximizes the probability of success in accomplishing a given mission by considering disturbances, while minimizing the moving distance of a robot. The proposed method can guarantee the safety of the planned trajectory by incorporating an LTL formula and chance constraints in a hierarchical manner. A high-level planner generates a discrete plan satisfying the mission requirements specified in LTL. A low-level planner builds a sampling-based rapidly exploring random tree search tree to minimize both the mission failure probability and the moving distance while guaranteeing the probability of collision with obstacles to be below a specified threshold. We have analyzed properties of the proposed algorithm theoretically and validated the robustness and safety of paths generated by the algorithm in simulation and experiments using a quadrotor.
- URI
- https://ieeexplore.ieee.org/document/9293004https://repository.hanyang.ac.kr/handle/20.500.11754/175005
- ISSN
- 0018-9286; 1558-2523
- DOI
- 10.1109/TAC.2020.3044273
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRONIC ENGINEERING(융합전자공학부) > Articles
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