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Simulation and Implementation of Temporal Logic-based Motion Planning for Autonomous Vehicles
KTH, School of Electrical Engineering (EES), Automatic Control.
2014 (English)Student paper other, 20 credits / 30 HE creditsStudent thesis
Abstract [en]

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.

Place, publisher, year, edition, pages
2014. , 69 p.
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-151019OAI: diva2:746344
Available from: 2014-09-12 Created: 2014-09-12 Last updated: 2014-09-12Bibliographically approved

Open Access in DiVA

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