Signal Temporal Logicコストを用いた軌道計画：決定論的経路積分最適化によるアプローチ
Trajectory Planning with Signal Temporal Logic Costs using Deterministic Path Integral Optimization
Signal Temporal Logic（STL）で記述されたコスト関数を持つ最適制御問題を、モデル予測経路積分制御に基づくサンプリング手法で効率的に解く軌道計画法を提案した。
著者: Patrick Halder, Hannes Homburger, Lothar Kiltz, Johannes Reuter, Matthias Althoff
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Formulating the intended behavior of a dynamic system can be challenging. Signal temporal logic (STL) is frequently used for this purpose due to its suitability in formalizing comprehensible, modular, and versatile spatiotemporal specifications. Due to scaling issues with respect to the complexity of the specifications and the potential occurrence of non-differentiable terms, classical optimization methods often solve STL-based problems inefficiently. Smoothing and approximation techniques can alleviate these issues but require changing the optimization problem. This paper proposes a novel sampling-based method based on model predictive path integral control to solve optimal control problems with STL cost functions. We demonstrate the effectiveness of our method on benchmark motion planning problems and compare its performance with state-of-the-art methods. The results show that our method efficiently solves optimal control problems with STL costs.
