基于启发式的海洋自主系统规划修复方法

Planning repair method of marine autonomous vehicle based on heuristic

针对海洋自主系统原规划失效后重新规划的问题,提出了一种基于启发式的规划修复方法.该方法以一种启发式规划方法为基础,在原规划失效后,对原规划进行局部修复,从而达到可以利用原规划内容的效果.在修复部分采用移除树确定受影响动作集的范围,迭代地对移除树进行生长和合并,并以移除代价最小的移除树为可行解空间寻找合适的候选规划,替换原规划失效部分.仿真实验表明,该方法不仅在规划精度方面与重规划相比具有相同的水平,而且规划时间大大缩短.

A planning repair method based on heuristic planning method was proposed to deal with the problem of replanning of marine autonomous vehicle after the original planning failure.The repair part was used to repair the original planning after the original planning failure and the original planning could be used again in this way.In repair part,removal trees was used to determine the scope of action affected by iterative growth and merge on the removal trees to look for a suitable candidate planning in the feasible solution space produced by removing the minimum cost removal tree,then replacing the failure part of the original planning.Simulation results show this method is not only the same as the replanning method in the planning precision,but the planning time is greatly shortened.