Recent approaches solve the problem of robot motion and task planningby using formal methods-based model checking algorithms. Inthis work, we consider the software package P-MAS-TG, an automatictool to generate correct-by-design controllers for robot motion and taskplanning. The robot motion can be modelled as a finite-state transitionsystem and the task can be represented by a linear temporal logic formula.Then, using a model checking algorithm, an accepting path forthe robot motion can be found so that the robot satisfies the specificlinear temporal logic task. In this thesis, the process of searching forthe accepting path of the robot motion by P-MAS-TG is visualized bymeans of a graphical user interface (GUI) in form of an rqt plug-inwhere all requested inputs for the P-MAS-TG package can be definedin the GUI so that the process is simplified and user-friendly. Moreover,the GUI provides a simple hybrid control mechanism betweenthe initial linear temporal logic task and a temporary task that is insertedby a human.All functions of the GUI are implemented and demonstrated onthe TurtleBot platform. The experiment shows that the GUI and theP-MAS-TG are successfully integrated. Features of the P-MAS-TG areperformed with the GUI to conduct motion planning and task planningon the TurtleBot. ; Nya metoder lösa problemet med robot motion och task planningmed hjälp av formella metoder-baserade modellkontroll algoritmer. Idetta exjobb anser vi att programvarupaketet P-MAS-TG, ett automatisktverktyg för att generera correct-by-design controllers för robotmotion och task planning. Robot motion kan modelleras som ett ändligttillstånd övergångssystem och uppgiften kan representeras av enlinjär temporal logik formel. Sedan, med hjälp av en modellkontrollalgoritm, kan en accepterande väg för roboten rörelse hittas så att robotenuppfyller de specifika linjära temporala logik uppgift. I dennauppsats processen att söka efter den accepterande sökvägen till robotmotion av P-MAS-TG visualiseras med hjälp av ett grafiskt ...
A GUI Design of Robot Motion and Task Planning Based on Linear Temporal Logic
2018-01-01
Theses
Electronic Resource
English
DDC: | 629 |
An efficient temporal logic for robotic task planning
NTRS | 1989
|Multi-Robot Motion Planning With Control Barrier Functions for Signal Temporal Logic Tasks
BASE | 2021
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