Discrete Abstractions for Robot Motion Planning and Control in Polygonal Environments

In this paper, we present a computational framework for automatic generation of provably correct control laws for planar robots in polygonal environments. Using polygon triangulation and discrete abstractions, we map continuous motion planning and control problems specified in terms of triangles to computationally inexpensive finite state transition systems. In this framework, powerful discrete planning algorithms in complex environments can be seamlessly linked to automatic generation of feedback control laws for robots with under-actuation constraints and control bounds. We focus on fully-actuated kinematic robots with velocity bounds and (under-actuated) unicycles with forward and turning speed bounds.