کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
710438 | 892110 | 2016 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
An LTL-Based Motion and Action Dynamic Planning Method for Autonomous Robot*
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
LTL-based languages provide a formal and expressive way to specify high-level complex motion and action tasks for autonomous robots. Based on LTL task specification, a method to dynamically generate motion and action sequences for a robot is proposed. Firstly, the environment knowledge, robot’s motion and action capabilities are described respectively based on the partitioned regions. Secondly, a weighted finite transition system is constructed from these models to capture the robot’s full functionality and the knowledge of environment. Thirdly, a dynamic planning framework is put forward considering environment update or operations failure. Finally, a fire-fighting case is simulated to demonstrate the effectiveness of the approach.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 49, Issue 5, 2016, Pages 91–96
Journal: IFAC-PapersOnLine - Volume 49, Issue 5, 2016, Pages 91–96
نویسندگان
Ning Xu, Jie Li, Yifeng Niu, Lincheng Shen,