Control design of discrete-time unicycle model using satisfiability modulo theory

This paper discusses a formal control design of a discrete-time unicycle model using Satisfiability Modulo Theory (SMT). Given a set of possible initial positions, a set of possible target positions, a lane and a time horizon, we develop a method to formally synthesize a controller that drives the u...

Full description

Saved in:
Bibliographic Details
Published in:Systems science & control engineering Vol. 12; no. 1
Main Authors: Adzkiya, Dieky, Mufid, Muhammad Syifa'ul, Saputri, Febrianti Silviana, Abate, Alessandro
Format: Journal Article
Language:English
Published: Macclesfield Taylor & Francis 31.12.2024
Taylor & Francis Ltd
Taylor & Francis Group
Subjects:
Autonomous vehicles
Boolean
control synthesis
Controllers
Design
linear real arithmetic
satisfiability modulo theories
Unicycle model
Velocity
ISSN:2164-2583, 2164-2583
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper discusses a formal control design of a discrete-time unicycle model using Satisfiability Modulo Theory (SMT). Given a set of possible initial positions, a set of possible target positions, a lane and a time horizon, we develop a method to formally synthesize a controller that drives the unicycle from a starting position to a target position within the given time horizon, while staying in the lane. The method encodes the set of possible initial positions, the set of possible target positions, the lane and the discrete-time unicycle model into linear real arithmetic expressions, and then checking the satisfaction via an SMT solver. If a solution exists, then the solution represents the controller. Finally, the proposed method is applied to a case study.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:2164-2583
2164-2583
DOI:10.1080/21642583.2024.2316166