High Level Motion Planningfor a Robot

Sammanfattning: With high level motion planning a robot can betold what to do. The robot could be ordered to do tasks we donot want to do ourselves, such as cleaning, or to do tasks indangerous situations or even to explore new planets. The goal ofthis project was to construct a framework that returns a plan fora robot based on a description of the environment and a giventask. The given task is expressed in linear temporal logic (LTL).The framework was constructed by using a transition systemdescribing the environment and an automaton constructed fromthe task. The plan returned from the framework is discrete waypoints which the robot can follow and fulfills the given task.Simulations have been done which show that the frameworkworks as expected.