Hierarchical Routing Algorithm for Industrial Mobile Robots by Signal Temporal Logic Specifications

A two-level route planning algorithm based on model predictive control (MPC) is proposed in this paper for industrial mobile robots, executing tasks in an environment specified using the methodology of signal temporal logic (STL). STL is applied to describe various conditions like collision-free and deadlock-free operation, followed by the transformation of the formulas into a mixed integer linear programming (MILP) problem, solved using dedicated software. To achieve real-time operation, the route planning is divided into two distinct phases using different underlying vehicle models. The correctness of the approach is guaranteed by the applied formal design method.

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