面向空间机器人在轨操控的任务规划模型研究

Research on mission planning model for on-orbit control of space robot

任务规划技术是空间机器人实现自主在轨操控的核心,要进行规划问题的求解,必须要将实际的规划问题变为计算机可理解语义的数据模型。虽然目前在人工智能规划领域有多个成熟模型,且描述能力已经较为完备,但是由于空间机器人在轨工作的特殊性,还没有一种规划模型可以直接应用。根据空间机器人任务规划的要素和关系特性,在规划领域定义语言(PDDL)的基础上拓展了对资源和活动实例的定义,活动的持续时间和活动效果属性,提高了描述的准确性。

Mission planning is the core of autonomous manipulation of space robot. There is no any planning model applied to space robot directly because of the operation particularity of space robot on orbit. Based on the planning domain definition lan?guage(PDDL),the resource definition,activity effect attribute and duration time are extended,and descriptive accuracy is im?proved according to the mission planning factors and relation characteristics of space robot.