小天体柔性着陆任务规划的动态时间约束推理方法  

Dynamic Temporal Constraint Reasoning Method for Flexible Landing Mission Planning of Small Celestial Body

作　　者：王棒 徐瑞[1,2] 李朝玉 朱圣英[1,2] 梁子璇[1,2] WANG Bang;XU Rui;LI Zhaoyu;ZHU Shengying;LIANG Zixuan(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration(Beijing Institute of Technology),Ministry of Industry and Information Technology,Beijing 100081,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(北京理工大学),北京100081

出　　处：《宇航学报》2024年第2期212-221,共10页Journal of Astronautics

基　　金：国家重点研发计划(2019YFA0706500);国家自然科学基金(62006019);空间碎片专项(KJSP2020020302)。

摘　　要：针对小天体柔性着陆任务规划中的复杂耦合时间约束一致性推理效率问题,建立任务规划时间约束网络,通过划分时间约束类型,设计约束动态添加策略,提出动态弧一致时间约束推理方法,限制新添加约束的传播范围,局部求解时间网络一致性,实现规划过程中时间约束网络一致性的高效维护。最后,构建小天体着陆规划场景,生成着陆任务规划活动及时间约束。仿真结果表明,与现有时间约束推理方法相比,所提出方法提高了时间约束推理效率,进而可为小天体柔性着陆任务规划提供支撑。To address the complex coupled temporal constraint consistency reasoning problem in the planning of the small celestial body flexible landing mission,a mission planning temporal constraint network is constructed,temporal constraint types are classified,and a constraint dynamic addition strategy is established.A dynamic arc-consistent temporal constraint reasoning method is proposed to limit the propagation range of newly added constraints,locally solve the temporal network consistency,and maintain the temporal constraint network in the planning process dynamically.Finally,a small celestial body landing planning scenario is designed with the landing planning activities and temporal constraints.Simulation results show that compared with the existing temporal constraint reasoning method,the method in this paper improves the computational efficiency,which supports the planning of small celestial body flexible landing missions.

关 键 词：小天体探测 柔性着陆器 着陆任务规划 动态弧一致 时间约束推理 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] V476.4[自动化与计算机技术—控制科学与工程]