GRAPH-BASED METHODS FOR PATH PLANNING WITH DYNAMIC OBSTACLES USING LINEAR TEMPORAL LOGIC

Simple item page
dc.contributor.advisorHerrmann, Jeffreyen_US
dc.contributor.authorHan, Wenqien_US
dc.contributor.departmentSystems Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2018-09-19T05:33:45Z
dc.date.available2018-09-19T05:33:45Z
dc.date.issued2018en_US
dc.description.abstractAutonomous vehicles are expected to play a key role in rescue and transportation. Planning an optimal path with the minimum computational effort for these vehicles in their missions improves their efficiency and adds safety for the vehicles and third parties on the ground. The objective of this thesis is to study the computational effort of four planning methods that implement linear temporal logic (LTL) to translate the high-level mission requirements and environmental specifications. The Potential Field Method and the Critical Path method required less computational effort to find one of the shortest paths for the mission The Multigraph Network Planning method and the Critical Path method can find all the possible paths with predetermined path length. The Random Walk method required more computational effort and memory compared to the other three methods.en_US
dc.identifierhttps://doi.org/10.13016/M2C824J3V
dc.identifier.urihttp://hdl.handle.net/1903/21422
dc.language.isoenen_US
dc.subject.pqcontrolledOperations researchen_US
dc.subject.pqcontrolledArtificial intelligenceen_US
dc.subject.pqcontrolledAerospace engineeringen_US
dc.subject.pquncontrolledD star liteen_US
dc.subject.pquncontrolleddynamic obstacleen_US
dc.subject.pquncontrolledLinear Temporal Logicen_US
dc.subject.pquncontrolledpath planen_US
dc.subject.pquncontrolledptential fielden_US
dc.titleGRAPH-BASED METHODS FOR PATH PLANNING WITH DYNAMIC OBSTACLES USING LINEAR TEMPORAL LOGICen_US
dc.typeThesisen_US

Files

Original bundle
Now showing 1 - 4 of 4
Thumbnail Image
Name:
Han_umd_0117N_19432.pdf
Size:
2.3 MB
Format:
Adobe Portable Document Format
Download
Thumbnail Image
Name:
Figure 4-10 Example 2 (A) - BxFCchi Automaton.gif
Size:
62.8 KB
Format:
Graphics Interchange Format
Download
Thumbnail Image
Name:
Figure 4-14 Example 2 (B) BxFCchi Automaton.gif
Size:
313.45 KB
Format:
Graphics Interchange Format
Download
Thumbnail Image
Name:
Figure 4-16 Example 3 (A) BxFCchi Automaton.gif
Size:
189.15 KB
Format:
Graphics Interchange Format
Download

Collections

UMD Theses and Dissertations
Computer Science Theses and Dissertations