Journal of System Simulation
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.
Recommended Citation
Fang, Guoqiang; Chang, Haitao; Liu, Xing; Liu, Zhengxiong; and Huang, Panfeng
(2025)
"Research on Task Planning Methods for Space Robot Assisted Operation,"
Journal of System Simulation: Vol. 37:
Iss.
2, Article 2.
DOI: 10.16182/j.issn1004731x.joss.23-1185
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol37/iss2/2
First Page
325
Last Page
334
CLC
TP242
Recommended Citation
Fang Guoqiang, Chang Haitao, Liu Xing, et al. Research on Task Planning Methods for Space Robot Assisted Operation[J]. Journal of System Simulation, 2025, 37(2): 325-334.
DOI
10.16182/j.issn1004731x.joss.23-1185
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