Temporal Logic Planning and Receding Horizon Control for Signal Source Localization

Abstract

This article copes with signal source localization by employing a receding horizon control approach with temporal logic planning in the light of a single mobile robot. First, a temporal logic planning approach is proposed such that the task requirements from the temporal logic specifications can be effectively dealt with based on the product automaton in an offline fashion. Second, in order to label the key nodes of the product automaton, a particle filter is utilized to predict the source positions as the key nodes. Third, on the basis of the product automaton, a receding horizon control approach with temporal logic planning is developed to produce the robot’s trajectory that satisfies a given linear temporal logic specification. Finally, the effectiveness of the proposed control approach is illustrated for signal source localization.

Keywords

• mobile robots
• receding horizon control
• linear temporal logic
• obstacle avoidance