时间相关的分层任务网络规划

发布时间：2018-04-01 02:21

本文选题：分层任务网络　切入点：时态规划　出处：《吉林大学》2016年博士论文

【摘要】：修改分层任务网络结构使其能够表达和求解时态相关的规划问题。求解的问题包括并行规划、时态规划和不确定时态规划。在并行规划的求解中使用任务分解方法,修改基于目标的分层任务网络结构,使之能够表达并求解并行规划问题。基于目标的并行分层任务网络可以结合领域相关的任务分解和领域独立的启发式搜索方法,提高并行规划问题的求解效率。重新定义时态规划问题,使任务网络定义为以任务为节点以时态约束为边的图结构。同样将时态规划问题定义为图结构。修改分层任务网络的定义,使之能够表达和求解时态规划问题,处理求解过程中出现的时态约束问题,最终求解相关时态规划问题。修改时态任务网络,使之能够表达动作持续时间的不确定和因为动作持续时间不确定而带来的时态关系不确定。通过判断是否能求出不确定时态问题的强可控解来判断对应的不确定时态分层任务网络问题是否有强规划解,用较小的运算代价求解不确定时态规划问题。
[Abstract]:Modify the hierarchical task network structure which can express programming problems and solving related problem solving. Temporal parallel programming, temporal planning and uncertain temporal planning. Decomposition method used in solving parallel task planning, modify the hierarchical task network based on the target structure, so that it can express and solve planning problems of parallel parallel. Hierarchical task network target can be combined with domain related task decomposition and domain independent heuristic search based method, improve the efficiency of solution parallel programming problems. Re definition of temporal planning problems, make the task of network is defined as the task graph nodes with temporal constraints as edges. The same temporal planning problem is defined as a graph structure definition. Modify the hierarchical task network, so that it can express and solve temporal planning problems, temporal constraint problems processing in the solving process, the final demand Solution of temporal planning problems. Change the tense task of network, so that it can express the uncertainty and the duration of action for action duration uncertainty caused by uncertain temporal relations. By judging whether to calculate the uncertainty of strong solutions to determine the temporal controllable corresponding uncertain temporal hierarchical task network is strong planning solution, uncertain programming problems by solving smaller computational cost.

【学位授予单位】：吉林大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP393.02

【相似文献】