Csutak, Balázs and Péni, Tamás and Szederkényi, Gábor (2019) Hierarchical Routing Algorithm for Industrial Mobile Robots by Signal Temporal Logic Specifications. In: 6th Student Computer Science Research Conference (StuCoSReC 2019), 2019.10.10., Koper, Slovenia.
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Abstract
A two-level route planning algorithm based on model predic- tive control (MPC) is proposed in this paper for industrial mobile robots, executing tasks in an environment specified using the methodology of signal temporal logic (STL). STL is applied to describe various conditions like collision-free and deadlock-free operation, followed by the transforma- tion of the formulas into a mixed integer linear program- ming (MILP) problem, solved using dedicated software. To achieve real-time operation, the route planning is divided into two distinct phases using different underlying vehicle models. The correctness of the approach is guaranteed by the applied formal design method.
| Item Type: | Conference or Workshop Item (Paper) |
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| Subjects: | Q Science / természettudomány > QA Mathematics / matematika > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány T Technology / alkalmazott, műszaki tudományok > T2 Technology (General) / műszaki tudományok általában |
| Depositing User: | Péni Tamás |
| Date Deposited: | 24 Sep 2020 10:35 |
| Last Modified: | 24 Sep 2020 10:35 |
| URI: | http://real.mtak.hu/id/eprint/113922 |
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