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嫦娥三号“玉兔号”巡视器行为规划方法

高薇 蔡敦波 周建平 高宇辉 殷明浩

高薇, 蔡敦波, 周建平, 等 . 嫦娥三号“玉兔号”巡视器行为规划方法[J]. 北京航空航天大学学报, 2017, 43(2): 277-284. doi: 10.13700/j.bh.1001-5965.2016.0572
引用本文: 高薇, 蔡敦波, 周建平, 等 . 嫦娥三号“玉兔号”巡视器行为规划方法[J]. 北京航空航天大学学报, 2017, 43(2): 277-284. doi: 10.13700/j.bh.1001-5965.2016.0572
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)
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)

嫦娥三号“玉兔号”巡视器行为规划方法

doi: 10.13700/j.bh.1001-5965.2016.0572
基金项目: 

国家自然科学基金 61103136

国家自然科学基金 61370156

国家自然科学基金 61503074

新世纪优秀人才支持计划 NECT-13-0724

航天飞行动力学技术重点实验室开放基金 2014afdl002

湖北省教育厅科学技术研究计划中青年人才项目 Q20151516

详细信息
    作者简介:

    高薇,女,博士研究生,工程师。主要研究方向:飞行器控制与通信

    蔡敦波,男,博士,副教授。主要研究方向:智能规划与自动推理

    周建平,男,博士,教授,博士生导师,中国工程院院士。主要研究方向:载人航天工程

    通讯作者:

    蔡敦波,E-mail:dunbocai@163.com

  • 中图分类号: TP181

Activity planning method for Chang'E-3 “Jade Rabbit” rover

Funds: 

National Natural Science Foundation of China 61103136

National Natural Science Foundation of China 61370156

National Natural Science Foundation of China 61503074

Program for New Century Excellent Talents in University NECT-13-0724

Open Research Foundation of Science and Technology on Aerospace Flight Dynamics Laboratory 2014afdl002

Scientific Research Program of Education Department of Hubei Province for Young Talents Q20151516

More Information
  • 摘要:

    为支持“玉兔号”巡视器完成对月面较大空间范围的科学探测,对动态任务进行快速规划,提出了一种基于人工智能领域智能规划技术的自动化任务规划方法。提出了行为持续时间和行为效果动态确定的时态规划模型(TPDD&DE),设计了描述TPDD&DE问题的规划领域定义语言PDDL——PDDLDD&DE,以及针对TPDD&DE问题的启发式规划算法,运用Landmark知识分析规划问题结构,从而设计了合理反映动作前提评估顺序的启发函数。在嫦娥三号任务中,本文方法支撑“玉兔号”巡视器圆满完成了预期的科学探测任务。

     

  • 图 1  动作持续时间和资源变量与外部计算过程的映射

    Figure 1.  Description of mappings from action durations and resource variables to external computation procedures

    图 2  TPDD&DE规划算法主体流程

    Figure 2.  Main procedure of TPDD&DE planning algorithm

    表  1  某次规划任务的规划解

    Table  1.   Plan of a mission planning task

    序号 开始时刻 动作名称 持续时长/s
    001 26 539 〈EnterTrackAction xsq〉 1 320
    002 27 859 〈WorkAction xsq spot0 init M0_MS_GZ〉 10 290
    003 38 149 〈MoveAction xsq spot0 M0_MS_GZ M1_MS_YDMZ〉 270
    004 38 419 〈MoveEffect xsq spot0 spot1〉 0
    005 38 419 〈WorkAction xsq spot1 M1_MS_YDMZ M2_MS_GZ〉 10 290
    006 48 709 〈MoveAction xsq spot1 M2_MS_GZ M3_MS_YDMZ〉 270
    007 48 979 〈MoveEffect xsq spot1 spot2〉 0
    008 48 979 〈WorkAction xsq spot2 M3_MS_YDMZ M4_MS_GZ〉 10 290
    009 59 269 〈MoveAction xsq spot2 M4_MS_GZ M5_MS_YDMZ〉 270
    010 59 539 〈MoveEffect xsq spot2 spot3〉 0
    011 671 460 〈WorkAction xsq spot3 M5_MS_YDMZ M6_MS_GZ〉 10 290
    027 776 383 〈MoveAction xsq spot7 M14_MS_GZ M15_MS_YDMZ〉 270
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-07-05
  • 录用日期:  2016-08-10
  • 刊出日期:  2017-02-20

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