本发明公开的基于规划执行依赖网的航天器规划序列灵活执行方法,属于航空航天技术领域。本发明实现方法为:在航天器任务规划序列的执行阶段,获取规划器规划得到的动作序列TL,将其构造为航天器任务规划执行依赖网EDN,EDN除了具有动作节点之外,还将动作的前提与效果作为状态节点,便于判断航天器当前状态与预期状态是否兼容。针对自身动作失败造成意外事件的情况,通过在执行依赖图中遍历寻找与当前状态兼容的预期状态,决定下一个执行的动作,实现航天器在执行任务规划序列时能够在观察到自身的意外事件时自主地跳过和重复动作,继续执行任务而不需要进行重规划或规划修复,提高航天器任务规划序列执行过程的效率、灵活性和鲁棒性。

    The invention discloses a spacecraft planning sequence flexible execution method based on a planning execution dependency network, and belongs to the technical field of aerospace. The implementation method comprises the steps that in the execution stage of a spacecraft task planning sequence, an action sequence TL obtained through planning of a planner is obtained, the action sequence TL is constructed into a spacecraft task planning execution dependency network EDN, the EDN has action nodes, and the premise and effect of actions serve as state nodes; and whether the current state of the spacecraft is compatible with the expected state is conveniently judged. Aiming at the situation that an accident is caused by self action failure, an expected state compatible with a current state is found in an execution dependency graph in a traversal manner, and a next executed action is determined, so that the spacecraft can autonomously skip and repeat actions when observing the self accident when executing a task planning sequence, and the task planning efficiency is improved. And the task is continuously executed without re-planning or planning repair, so that the efficiency, the flexibility and the robustness of the spacecraft task planning sequence execution process are improved.


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    Titel :

    基于规划执行依赖网的航天器规划序列灵活执行方法


    Erscheinungsdatum :

    2024-06-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64G Raumfahrt , COSMONAUTICS