Reactive controller synthesis for UAV mission planning
Authors:
- 1 June 2017
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 238-241
Abstract
This paper presents an UAV control scheme under mission specifications. A mission is specified in linear temporal logic (LTL) formula. A point-to-point local planner is designed to search a trajectory satisfying the given mission specification so that the low-level controller of a quadrotor can follow the trajectory. The designed planner adopts control Lyapunov functions, and has the following properties: (1) It reactively generates a trajectory with respect to current quadrotor state. (2) The generated trajectory reflects the reference path produced during the offline planning procedure. The proposed method is flexible in responding to disturbances and guides the quadrotor to satisfy the given mission requirement.Keywords
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