The invention relates to a rapid forward search task planning method for space robot auxiliary operation, and belongs to the field of task planning. A rapid forward search task planning method is introduced into the field of space auxiliary operation tasks by modifying pruning and expansion strategies. Aiming at a space auxiliary operation task which is mainly operated by an operation action, state search is changed into action search, actions in the action search process are sequenced by a method of introducing an operation cost, and an action sequence with the minimum operation cost is selected and obtained. Compared with a primary version fast forward search planning method, the method has the advantages that the field to be studied is combined, cost calculation from the current state to the available action is introduced, and the problem of action selection in space auxiliary operation tasks is solved.
本发明涉及一种面向空间机器人辅助操作的快速前向搜索任务规划方法,属于任务规划领域。通过修改剪枝和扩展策略,将快速前向搜索任务规划方法引入到了空间辅助操作任务领域之中。针对操作动作为主的空间辅助操作任务,本发明将状态搜索更改为动作搜索,通过引入操作代价的方法对动作搜索过程中的动作进行了排序,选择得到操作代价最小的动作序列。本发明与初版快速前向搜索规划方法相比,结合了所要研究的领域并引入了从当前状态到可用动作之间的代价计算,解决了动作在空间辅助操作任务中选择的问题。
Rapid forward search task planning method for space robot auxiliary operation
一种面向空间机器人辅助操作的快速前向搜索任务规划方法
2023-12-01
Patent
Electronic Resource
Chinese
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