上海航天（中英文）2024，Vol.41Issue(1)：66-76,11.DOI:10.19328/j.cnki.2096-8655.2024.01.009
空间站机械臂任务规划方法
Task Planning Method for Space Station Manipulator
摘要
Abstract
Task planning technology is the core and key technology in the execution process of space missions.In response to the characteristics of space station robotic arms,e.g.,limited extraterrestrial autonomous behavior,diverse behavior,numerous branches,multi-type constraints,and multiple resource constraints,the task planning method for space station manipulator is studied.The task requirements are analyzed to form a monthly event.The ground engineer provides suggestions for decomposing the task into subtasks,decomposing the monthly event into flight control events with logical relationships.The flight control event set describes different behaviors and modes of the spacecraft,and the flight control events under each mode are composed of control actions or control action sequences.A hierarchical planning object model is established.At the same time,a state space set is constructed to describe the time-varying on-board states and state values,and a state inference model is established at the flight control event layer and control action sequence layer.Besides,multiple constraint logic expressions are used to describe the joint constraints and normalize the design of motion control events.Under time scheduling and resource constraints,the iterative solutions are performed in the planner to generate ground control action sequences,achieve task objectives,and be used for the task implementation.The correctness and efficiency of the proposed method are verified in the on-orbit mission of the space station manipulator.关键词
任务规划/空间站机械臂/状态推理/智能规划/时态规划Key words
task planning/space station manipulator,state inference/intelligent planning/temporal planning分类
信息技术与安全科学引用本文复制引用
吴凡,赵瑞,何锡明,姜萍,荣志飞,王琪智,裴健超..空间站机械臂任务规划方法[J].上海航天（中英文）,2024,41(1):66-76,11.基金项目
国家自然基金重点项目(72131009) （72131009）
