计算机工程与应用2016，Vol.52Issue(12)：5-11,94,8.DOI:10.3778/j.issn.1002-8331.1407-0307
动态环境下基于概率模型检测的路径规划方法
Probabilistic model checking for path planning in dynamic environ-ment
摘要
Abstract
This paper proposes a new method of path planning based on probabilistic model checking in a complex dynamic environment. Aiming at robots are always influenced by external factors in practical applications, some environmental factors are put forward as influence parameters. Markov Decision Process(MDP)model is built and the mobile robot acts are considered uncertain actions. Meanwhile, the properties are described in Probabilistic Computation Tree Logic (PCTL)language to express complex and diverse needs of behavior. The model is verified and analyzed by the PRISM platform for finding the global optimal path that meets the properties. In addition, a strategy of collision avoidance with dynamic obstacles is presented based on the global planning path to realize the local plans for collision-free and at the same time it tries to ensure the maximum probability to complete tasks. The analytical and computer experiment results demonstrate the correctness and effectiveness of the method.关键词
路径规划/动态障碍物/概率模型检测/马尔可夫决策过程/概率计算树逻辑Key words
path planning/dynamic obstacles/probabilistic model checking/Markov decision process/probabilistic com-putation tree logic分类
信息技术与安全科学引用本文复制引用
夏春蕊,王瑞,李晓娟,关永,张杰,魏洪兴..动态环境下基于概率模型检测的路径规划方法[J].计算机工程与应用,2016,52(12):5-11,94,8.基金项目
国家自然科学基金（No.61373034，No.61303014）；北京市自然科学基金（No.4122017）。 （）
