基于改进SHOP的无人机自主搜索任务规划  

UAV AUTONOMOUS SEARCH MISSION PLANNING BASED ON IMPROVED SHOP

作　　者：赵发 綦秀利 余晓晗 张所娟 Zhao Fa;Qi Xiuli;Yu Xiaohan;Zhang Suojuan(Command and Control Engineering College,Army Engineering University of PLA,Nanjing 210000,Jiangsu,China)

机构地区：[1]陆军工程大学指挥控制工程学院,江苏南京210000

出　　处：《计算机应用与软件》2025年第4期68-77,共10页Computer Applications and Software

摘　　要：针对无人机自主搜索任务规划中经常存在的环境动态变化和场景不可预知难题,改进经典的简单层次顺序规划方法(Simple Hierarchical Ordered Planner,SHOP),并在此基础上提出多次规划多次执行的迭代式任务规划模型,为不完全信息下的任务规划问题提供了一套可行的解决方案。构建仿真实验环境,以无人机自主搜索任务为例验证了迭代式任务规划模型的可行性和实用性,并对比SHOP规划方法,说明了迭代式规划方法的优势。Aimed at the problems of dynamic environment and unpredictable scene in unmanned aerial vehicle(UAV)autonomous search mission planning,the classical simple hierarchical ordered planner(SHOP)method is improved,and an iterative mission planning model with multiple planning and multiple execution is proposed based on the improved SHOP method.It provides a feasible solution to the mission planning problem with incomplete information.The simulation environment was built,taking the autonomous search task of UAV as an example,the feasibility and practicability of the iterative mission planning model were verified.Compared with the SHOP planning method,the advantages of the iterative planning method are illustrated.

关 键 词：任务规划 SHOP 不完全信息 无人机自主搜索 

分 类 号：TP311.52[自动化与计算机技术—计算机软件与理论]