PATH PLANNING MOBILE ROBOTICS
Nsf Summer, Louie Huang, George J. Pappas · 2005
One of the fundamental problems in the field of robotics is path determination and motion planning. The project described in this paper focuses on path determination in a known environment. The goal is to enable a mobile robot to successfully navigate an environment according to a specified temporal logic formula. On a high level, temporal logic formulas can effectively provide the robot with directions on where and when to go. As part of this project, a program will be developed to formulate a continuous path plan that will fulfill the temporal logic formula supplied for the robot to follow. In this project, the ActivMedia Pioneer 3-DX robot will be used. This robot model was chosen because it is preconfigured for basic navigation. Preprogrammed with algorithms for shortest path determination, obstacle avoidance, and localization, the Pioneer 3-DX is also capable of new navigation techniques that can be programmed in C and C++. Maps of known environments can be generated by the Pioneer 3-DX. A graphical user interface program will utilize these maps in conjunction with user supplied directions as expressed by a temporal logic formula to construct a path plan. The path determined by the program