论文标题
BP-RRT：时间逻辑运动计划的屏障对综合
BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
论文作者
论文摘要
对于具有线性时间逻辑规范限制的具有连续状态空间轨迹的非线性系统（例如机器人），低级控制器用于任务执行的综合通常会导致非convex优化问题。我们通过制定快速探索的屏障对随机树来设计一种新的算法来解决这种类型的非凸问题，每个屏障对由二次屏障函数和完整的状态反馈控制器组成。所提出的方法采用快速探索的随机树来处理非凸的约束，并使用屏障对来实现局部凸约束。因此，该方法解决了满足自动机所需过渡的控制问题，以满足给定的线性时间逻辑约束。同时，它合成本地最佳控制器，以在与自动机的字母相对应的区域之间过渡。我们在模拟两个链接操作机器人的模拟上演示了这种新算法。
For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for mission execution often results in a non-convex optimization problem. We devise a new algorithm to solve this type of non-convex problems by formulating a rapidly-exploring random tree of barrier pairs, with each barrier pair composed of a quadratic barrier function and a full state feedback controller. The proposed method employs a rapid-exploring random tree to deal with the non-convex constraints and uses barrier pairs to fulfill the local convex constraints. As such, the method solves control problems fulfilling the required transitions of an automaton in order to satisfy given linear temporal logic constraints. At the same time it synthesizes locally optimal controllers in order to transition between the regions corresponding to the alphabet of the automaton. We demonstrate this new algorithm on a simulation of a two linkage manipulator robot.
