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Robot motion planning with task specifications via regular languages

Published online by Cambridge University Press:  17 June 2015

James McMahon  and
Erion Plaku
James McMahon
Affiliation:
Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064 U.S. Naval Research Laboratory, Code 7130, Washington, DC 20375
Erion Plaku*
Affiliation:
Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064
*
*Corresponding author. E-mail: plaku@cua.edu
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Summary

This paper presents an efficient approach for planning collision-free and dynamically feasible trajectories that enable a mobile robot to carry out tasks specified as regular languages over workspace regions. A sampling-based tree search is conducted over the feasible motions and over an abstraction obtained by combining the automaton representing the regular language with a workspace decomposition. The abstraction is used to partition the motion tree into equivalence classes and estimate the feasibility of reaching accepting automaton states from these equivalence classes. The partition is continually refined to discover new ways to expand the search. Comparisons to related work show significant speedups.

Keywords

Motion planningMobile robotsRobot dynamicsRegular languages

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 1 , January 2017 , pp. 26 - 49
Copyright
Copyright © Cambridge University Press 2015 

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