Design and implement of optimal patrolling control system to satisfy the complex requirements
OU Lin-lin
CHEN Hao
XIAO Yun-tao
CHENG Cheng
YU Li
Abstract：By combining the linear temporal logic theory and the fuzzy control method, a patrolling control system is presented in this paper, which enables the robot to perform complex temporal tasks. It can not only search the optimal path for complex sequential tasks, but also can realize the path tracking by using the fuzzy control method. Firstly, based on the theory of linear temporal logic (LTL), the global optimal path satisfying the demand of complex task is determined. Then, the fuzzy logic controller is designed for the trajectory tracking. It can actualize the optimal path tracking according to the feedback of the real-time position and orientation of the robot. Additionally, the simulation results show the effectiveness of the proposed patrolling control system. Finally, a patrolling control system satisfying the demand of complex task is established on the basis of the E-Puck robot, which includes image processing, data communications, algorithm loading and other software modules. The experiment shows that the complex patrolling control task is accomplished by using the proposed optimal patrolling path planning algorithm and the fuzzy control method.
Keywords：motion planningpatrolling controllinear temporal logicfuzzy logic
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 172-180 )