Synthesis of output feedback control for motion planning based on LTL specifications

Abstract

In the paper, we study the motion planning problem of a mobile robot in the plane. The goal is to design output feedback control such that the resulting path of a mobile robot satisfies desired linear temporal logic (LTL) specifications. Our control strategy is divided into a local output feedback control problem and a supervisory control for LTL specifications. For the former one, we design output feedback control laws to ensure that output trajectories either remain in a simplex, or leave the simplex and enter an adjacent simplex in finite time. For the latter, we construct a transition system based on reachability and search for feasible paths that satisfy the LTL specifications. In this way, a piecewise affine output feedback control is obtained to solve the motion planning problem. A simulation result is presented to illustrate our approach.