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基于线性时序逻辑的最优巡回路径规划

DOI: 10.3724/SP.J.1004.2014.02126, PP. 2126-2133

Keywords: 线性时序逻辑,任务需求,切换系统,巡回路径规划

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Abstract:

?基于线性时序逻辑(Lineartemporallogic,LTL)的路径规划方法中,多点巡回路径规划问题尚无有效解决方案.为了在道路网络中实现最优巡回监测,提出了基于LTL的最优巡回路径规划方法.首先,将环境建模成一个切换系统,用LTL语言描述包含多个巡回点和障碍物的任务需求;接着,利用循环移位法构建能够融合任务需求和环境模型的扩展乘机自动机,以建立路径信息完整的网络拓扑;最后,采用基于迪科斯彻法的最优综合算法搜索扩展乘机自动机网络上的最优路径,从而获得能够满足复杂任务需求的最优巡回路径.仿真结果表明,该方法能够有效实现最优巡回路径规划.

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