A linear temporal logic based approach for vehicle motion planning

Dule Shu, Constantino M. Lagoa

Abstract: We consider a vehicle path planning problem under the model of a finite transition system. We start with a continuous model for the motion planning problem. By partitioning the state space of the continuous model, we formulate the motion planning problem as a problem of designing switching controller for the finite transition system. We use linear temporal logic (LTL) formulas to describe the behavior of the transition system and the objective of motion planning. Using the LTL planning software toolbox: TuLip, we obtain a switching controller that guarantees the satisfaction of all the LTL formulas we have defined. Under such switching strategy, the vehicle will always avoid colliding with other vehicles while eventually recovering to a desired constant velocity.