A GUI Design of Robot Motion and Task Planning Based on Linear Temporal Logic
Tengfan Lin · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2018
Recent approaches solve the problem of robot motion and task planningby using formal methods-based model checking algorithms. Inthis work, we consider the software package P-MAS-TG, an automatictool to generate correct-by-design controllers for robot motion and taskplanning. The robot motion can be modelled as a finite-state transitionsystem and the task can be represented by a linear temporal logic formula.Then, using a model checking algorithm, an accepting path forthe robot motion can be found so that the robot satisfies the specificlinear temporal logic task. In this thesis, the process of searching forthe accepting path of the robot motion by P-MAS-TG is visualized bymeans of a graphical user interface (GUI) in form of an rqt plug-inwhere all requested inputs for the P-MAS-TG package can be definedin the GUI so that the process is simplified and user-friendly. Moreover,the GUI provides a simple hybrid control mechanism betweenthe initial linear temporal logic task and a temporary task that is insertedby a human.All functions of the GUI are implemented and demonstrated onthe TurtleBot platform. The experiment shows that the GUI and theP-MAS-TG are successfully integrated. Features of the P-MAS-TG areperformed with the GUI to conduct motion planning and task planningon the TurtleBot.