Aiming at the task requirements of multi-manipulator space robot for typical on-orbit servicing missions, considering complex space environment and the characteristics of many constraints, a multi-constrained task planning method for multi-arm space robot based on Hierarchical Task Network (HTN) is proposed. The network is widely used in the field of intelligent planning because of its simplicity and efficiency. However, the speed at which the HTN planner solves a planning problem depends on the order of the decomposition methods of the problem in the domain knowledge, so the planning results of the HTN planner are generally not optimal solutions. Therefore, Temporal-Difference learning is proposed in HTN. Finally, taking an on-orbit repairing task of a four-arm space robot as an example, the feasibility and effectiveness of the multi-constrained task planning method using the proposed task network are verified by simulation experiments.
Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2022 ; Harbin, China August 05, 2022 - August 07, 2022
2023-01-31
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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