度量区间时序逻辑下四旋翼的集成任务与运动规划（英文）

Integrated task and motion planning for quadrotors under metric interval temporal logic specifications

本文采用优化方法解决度量区间时序逻辑下进行四旋翼的集成任务与运动规划问题.传统方法通常将任务约束和运动约束分层处理.由于不同规划层所使用的抽象模型并不完全匹配,任务规划层求解出的高层策略往往无法有效地被低层的运动规划层执行,从而只能找到次优的运动轨迹甚至找不到解.本文摒弃分层规划的策略,采用B样条拟合运动轨迹,将问题转化问一个混合整数线性规划问题,直接在同一层处理带有时序逻辑的任务约束以及运动约束.与其他现有方法对比,本文的方法保证了连续时间下的轨迹也可以完全满足所有约束条件,而非只有离散的轨迹点才可以满足.用四旋翼模型进行了一系列仿真验证,仿真结果表明了方法的有效性.

This paper presents an optimization-based method for the integrated task and motion planning problem under temporal specifications. It is traditional to handle the task specifications and the continuous motion trajectory in separate layers. Due to model mismatching at different layers, it often leads to a sub-optimal or even infeasible trajectory. In this paper, we use the B-spline to formulate a mixed integer programming problem to satisfy the temporal constraints and generates a dynamically feasible trajectory in one run. Compared to existing works, our method guarantees the satisfaction of the state and temporal constraints over the entire trajectory instead of at discrete time points. The proposed method is tested with a simulated quadrotor and validated with various examples.