Simulation and Implementation of Temporal Logic-based Motion Planning for Autonomous Vehicles

by Haukur Ingi Heidarsson

Institution: KTH Royal Institute of Technology
Year: 2014
Keywords: Engineering and Technology; Electrical Engineering, Electronic Engineering, Information Engineering; Control Engineering; Teknik och teknologier; Elektroteknik och elektronik; Reglerteknik
Record ID: 1338140
Full text PDF: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-151019


This thesis focuses on temporal logic-based motion planning for autonomous ve- hicles. Specically planning based on Linear Temporal Logic statements. This type of motion planning allows for automatic generation of correct by construc- tion controllers that implement missions dened in a language that is both quite expressive and easy to understand. The main contribution of this thesis is to provide a framework of reuseable Python modules that implement algorithms for the production of plans based on Linear Temporal Logic and ecient online revising of existing plans when the environment changes. The general case of oine planning is presented as well as several options for online planning based on partially known and dynamic environments. The dif- ferent online planning methods are simulated and their feasibility in dierent scenarios is discussed. Finally, implementation concerns and future directions are discussed.