Temporal logic task and motion planning of a smart robot-towards a smart substation environment

摘要

With the rapid development of inspection techniques, more emphases should be placed on the improvement of the reliability, safety and intelligence of the robot system. In this paper, a framework for the patrol robot that automatically finishes complex task and motion planning in the indoor substation is proposed. To realize real-time response to the environmental changes, the proposed framework keeps an ongoing interaction with the environment as a Reactive System (RS). The RS employs the Transition System (TS) and Nondeterministic Biichi Automaton (NBA) to create a discrete controller that bounds the acts of the patrol robot in the safe and reasonable specifications. What's more, the environment signals are treated as the trigger condition of task switching. If a new environment information is detected, our approach can automatically give a feasible plan. Then, the sensor-based mechanism of continuous controllers is guided by the discrete controller, which results in a hybrid system satisfying the high-level specification. The experiment within the LTLMoP toolkit verifies the proposed framework.