Abstract
In view of the difficulties caused by the complicated task process and numerous task constraints during the space robot assisted operation, a task planning method combining fast forward search algorithm and hierarchical network algorithm is proposed, in which the task planning process is divided into task planning and replanning. Based on the fast forward search task planning method of operation cost, the execution sequence of actions with minimum operation cost is obtained. The task adaptive replanning method based on hierarchical network corrects and compensates the problems according to the priority of compensation for the movement, grab and release actions. A comparative simulation is carried out for the space robot's on-orbit auxiliary filling task, and the action sequence with the lowest operational cost is obtained. The error caused by the change of environmental information during the task execution is solved by using the replanning algorithm, which verifies the effectiveness of the algorithm and provides an effective task planning algorithm for the space auxiliary operation.
| Translated title of the contribution | Research on Task Planning Methods for Space Robot Assisted Operation |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 325-334 |
| Number of pages | 10 |
| Journal | Xitong Fangzhen Xuebao / Journal of System Simulation |
| Volume | 37 |
| Issue number | 2 |
| DOIs | |
| State | Published - Feb 2025 |