基于分层结构的空间机械臂多约束任务规划

发布时间：2019-05-25 04:29

【摘要】：针对空间机械臂在轨环境复杂、约束繁多、任务多样的特点,提出了一种基于分层结构的多约束任务规划方法。将任务规划过程划分为任务剖面分析与任务中间点规划两个层次分别进行。根据空间机械臂的工作特点,提出一种采用状态矩阵结合状态掩码的工作环境表征方式。在此基础上,定义了三种空间机械臂原任务及其算子。基于分层任务网络(Hierarchical task network,HTN)进行任务剖面分析,将复杂任务拆解为原任务序列。系统梳理空间机械臂规划参数集,针对因各类约束条件导致无法直接执行的原任务,在考虑资源优化的同时利用改进的A*算法对原任务进一步划分为多段简单路径,并给出代价最小的任务中间点序列。以物体转移任务为例通过仿真试验验证了基于分层结构的空间机械臂任务规划方法的可行性与有效性。
[Abstract]:In view of the complexity of space manipulator in orbit environment, many constraints and diverse tasks, a multi-constraint task planning method based on hierarchical structure is proposed. The task planning process is divided into two levels: task profile analysis and task midpoint planning. According to the working characteristics of space manipulator, a working environment representation method based on state matrix and state mask is proposed. On this basis, three kinds of original tasks and operators of space manipulator are defined. Based on hierarchical task network (Hierarchical task network,HTN), task profile analysis is carried out, and complex tasks are disassembled into original task sequences. The system combs the space manipulator planning parameter set, aiming at the original task which can not be executed directly due to all kinds of constraints, while considering the resource optimization, the improved A* algorithm is used to further divide the original task into multiple simple paths. The sequence of intermediate points of the task with the least cost is given. Taking the object transfer task as an example, the feasibility and effectiveness of the space manipulator task planning method based on hierarchical structure are verified by simulation experiments.
【作者单位】：北京邮电大学自动化学院;
【基金】：国家重点基础研究发展计划(973计划,2013CB733000) 国家自然科学基金(61403038)资助项目
【分类号】：TP241

【共引文献】