RRT* Based Optimal Trajectory Generation with Linear Temporal Logic Specifications under Kinodynamic Constraints

TL;DR

This paper introduces an RRT*-based method for generating optimal, kinodynamically feasible trajectories that satisfy complex temporal logic specifications, balancing robustness, efficiency, and real-world applicability.

Contribution

It integrates robustness metrics for Linear Temporal Logic with kinodynamic constraints within an RRT* framework, enabling practical and optimal motion planning under complex specifications.

Findings

Successfully generates trajectories satisfying LTL specifications in simulations.

Demonstrates robustness and efficiency in real-world experiments.

Outperforms existing methods in complex environment scenarios.

Abstract

In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's motion constraints, ensuring that the resulting trajectories are both optimal and executable. We introduce a cost function that recursively computes the robustness of temporal logic specifications while penalizing time and control effort, striking a balance between path feasibility and logical correctness. We validate our approach with simulations and real-world experiments in complex environments, demonstrating its effectiveness in producing robust and practical motion plans. This work represents a significant step towards expanding the applicability of motion planning algorithms to more complex, real-world scenarios.