嫦娥三号“玉兔号”巡视器行为规划方法  

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

作　　者：高薇[1,2] 蔡敦波[3] 周建平[1,4] 高宇辉[2] 殷明浩[5] GAO Wei CAI Dunbo ZHOU Jianping GAO Yuhui YIN Minghao(School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China Beijing Aerospace Control Center, Beijing 100094, China Hubei Provincial Key Laboratory of Intelligent Robot, Wuhan Institute of Technology, Wuhan 430205, China China Manned Space Engineering Office, Beijing 100720, China School of Computer Science and Information Technology, Northeast Normal University, Changchun 130017, China)

机构地区：[1]北京航空航天大学宇航学院,北京100083 [2]北京航天飞行控制中心,北京100094 [3]武汉工程大学智能机器人湖北省重点实验室,武汉430205 [4]中国载人航天办公室,北京100720 [5]东北师范大学计算机科学与信息技术学院,长春130017

出　　处：《北京航空航天大学学报》2017年第2期277-284,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(61103136;61370156;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)~~

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(TP^(DD&DE)),设计了描述TP^(DD&DE)问题的规划领域定义语言PDDL——PDDL^(DD&DE),以及针对TP^(DD&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。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（TP^DD＆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 TP^DD＆DE,an extension of the planning domain definition language（PDDL）,called PDDLDDDE,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.

关 键 词：月面巡视器 行为规划 自动规划 任务建模 启发式搜索 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]