| Citation: | GAO Wei, CAI Dunbo, ZHOU Jianping, et al. Activity planning method for Chang'E-3 “Jade Rabbit” rover[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(2): 277-284. doi: 10.13700/j.bh.1001-5965.2016.0572(in Chinese)
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To enable the "Jade Rabbit" rover to plan fast in a dynamic work environment on the lunar surface, an activity planning model called temporal planning with dynamic duration and dynamic effect (TPDD&DE) was developed based on the automated planning technology of artificial intelligence. This model extends temporal planning to incorporate external computing procedures and to support durations of actions to be determined dynamically. To describe tasks of TPDD&DE, an extension of the planning domain definition language(PDDL), called PDDLDD&DE, was designed. A planning system that is based on the heuristic state space search framework was developed to solve the planning problem. By utilizing the "proposition Landmarks analysis" technique, we designed a heuristic function that accounts for reasonable orderings of actions' preconditions and is capable of getting better goal distance estimates for states. With the successful completion of Chang'E-3 mission, the proposed method played a key role in supporting the "Jade Rabbit" rover to fulfill its exploration tasks on the moon.
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