Research on Task Planning Methods for Space Robot Assisted Operation

doi:10.16182/j.issn1004731x.joss.23-1185

Abstract

Abstract:

In view of the difficulties caused by the complicated task process and numerous task constraints during the space robot assisted operation,a task planning method combining fast forward search algorithm and hierarchical network algorithm is proposed, in which the task planning process is divided into task planning and replanning. Based on the fast forward search task planning method of operation cost, the execution sequence of actions with minimum operation cost is obtained. The task adaptive replanning method based on hierarchical network corrects and compensates the problems according to the priority of compensation for the movement, grab and release actions. A comparative simulation is carried out for the space robot's on-orbit auxiliary filling task, and the action sequence with the lowest operational cost is obtained. The error caused by the change of environmental information during the task execution is solved by using the replanning algorithm, which verifies the effectiveness of the algorithm and provides an effective task planning algorithm for the space auxiliary operation.

Key words: space robot, task plan, replan, fast forward search, hierarchical task network

CLC Number:

TP242

Fang Guoqiang, Chang Haitao, Liu Xing, Liu Zhengxiong, Huang Panfeng. Research on Task Planning Methods for Space Robot Assisted Operation[J]. Journal of System Simulation, 2025, 37(2): 325-334.

Figures/Tables 11

Fig. 1

Fig. 2

Fig. 3

Table 1

Position and orientation of task waypoint

名称	位置/m	姿态/(°)
工具箱	$- 7.3, 0.5, 0.5$	$- 30, 86, 30$
起始位置	$4.1, 4.1, 1.2$	$- 30, 90, 30$
开盖位置	$2.4, 3.9, 1.5$	$0, 90, 90$
旋拧位置1	$1.9, 3.6, 1.2$	$0, 90, 90$
旋拧位置2	$5.5, 2.8, 1.2$	$0, 90, 90$
插入位置	$2.7, 6.6, 1.1$	$46.7, 62.6, 46.7$
加注位置	$1.6, 6.9, 0.4$	$58.2, 62.6, 35.1$

Table 1

Table 2

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Table 3

Fig. 8

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动作编号	任务	动作	工具
任务1	移动空间机器人	移动	无
任务2	抓取物体	抓取	无
任务3	释放物体	释放	无
任务4	旋拧螺栓	旋拧	旋拧工具
任务5	打开盖子	开盖	开盖工具
任务6	插入输油孔	插入	插入工具
任务7	燃料加注补充	加注	加注工具

算法	时间/min
图规划算法	16.068
快速前向搜索算法	4.051

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