时间代价启发式多月基装备协同任务规划方法  

Time-cost Heuristic Planning Method for Multi-robot Cooperative Lunar Mission

作　　者：赵宇庭 徐瑞[1,2] 于登云 朱圣英 李朝玉[1,2] 赵志军 潘博 ZHAO Yuting;XU Rui;YU Dengyun;ZHU Shengying;LI Zhaoyu;ZHAO Zhijun;PAN Bo(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration,Ministry of Industry and Information Technology,Beijing 100081,China;China Aerospace Science and Technology Corporation,Beijing 100048,China;Beijing Institute of Spacecraft Engineering,Beijing 100094,China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]深空自主导航与控制工信部重点实验室,北京100081 [3]中国航天科技集团有限公司,北京100048 [4]北京空间飞行器总体设计部,北京100094

出　　处：《宇航学报》2022年第10期1277-1290,共14页Journal of Astronautics

基　　金：国家自然科学基金(U2037602,61976020,62006019)。

摘　　要：针对月球科研站构建中优化整体任务用时的需求,提出时间代价启发式多月基装备协同任务规划方法。面向月球科研站构建过程中的原位和路径任务,构建双类型任务关系图,并提出多位置转移时间代价启发式策略引导此图的搜索方向,使规划器沿局部最短耗时任务路径逐个处理任务,降低装备路径转移的时间代价;提出时间代价启发式装备选择策略,从而均衡月基装备任务负载,缩短装备工作时长。最后,以包含资源开采、物料运输、设施建设等任务的月球科研站构建场景为例,对规划算法进行仿真验证。结果表明,此算法能够生成满足复杂约束的多装备协同规划序列。与传统规划方法相比,本文方法得到的月基装备任务序列冗余路径少、任务用时短,可实现多装备在多任务中的高效分时复用。In order to optimize the overall mission duration of the lunar scientific research station construction,a time-cost heuristic planning method for the multi-robot cooperative mission is proposed.For the in-situ and path tasks in the construction process,a dual-type task relation graph is constructed,and a heuristic strategy of multi-location transfer time cost is proposed to guide the search direction of this graph,so that the planner can process tasks one by one along the local shortest time-consuming task path,and reduce the path transfer time of the robots.A time-cost heuristic strategy is proposed to allocate the robots,which can balance the task load and shorten the working time.Finally,taking the construction scenario of the lunar scientific research station including lunar resource mining,material transportation,facility construction and other tasks as an example,the planning algorithm is verified by simulation.The results show that this method can generate multi-robot cooperative planning sequences satisfying complex constraints.Compared with the traditional planning method,the proposed method has fewer redundant paths and shorter task time,which can realize the efficient time-sharing reuse of various robots in multiple tasks.

关 键 词：月球科研站 多装备协同 任务规划 时间代价启发式策略 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]