宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (11): 1385-1395.doi: 10.3873/j.issn.1000-1328.2021.11.005

• 飞行器设计与力学 • 上一篇    下一篇

期望状态序列导向的深空探测器规划修复方法

陈超,徐瑞,李朝玉,朱圣英,梁子璇   

  1. 1. 北京理工大学宇航学院,北京 100081；2. 深空自主导航与控制工信部重点实验室,北京 100081
  • 收稿日期:2021-01-07 修回日期:2021-03-09 出版日期:2021-11-15 发布日期:2021-11-15
  • 基金资助:
    国家重点研发项目（2019YFA0706500）；国家自然科学基金（61976020）

Plan Repair Method of Deep Space Probe Based on the Expected State Sequence

CHEN Chao, XU Rui, LI Zhao yu, ZHU Sheng ying, LIANG Zi xuan   

  1. 1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;2. Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration, Ministry of Industry and Information Technology, Beijing 100081, China

  • Received:2021-01-07 Revised:2021-03-09 Online:2021-11-15 Published:2021-11-15

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摘要： 针对探测器动作持续、并行、消耗能源所导致的规划修复难求解问题,提出一种基于期望状态序列的深空探测器规划修复方法。该方法根据动作的执行完成情况,从既定规划中提取未完成执行动作的期望效果以及待执行动作的期望前提,构成一组有序的、逻辑与能源混合的期望状态集合,为规划修复提供子目标,从而将规划修复问题转化为状态转移路径搜索问题；并在搜索过程中,提出能源补给优先的规划修复策略,将逻辑修复与能源修复分离以降低问题求解难度,最终使得探测器能够自主从规划失败中恢复执行。最后,以火星环绕器为例进行数值仿真,验证了方法的有效性和合理性。


关键词: 期望状态序列, 深空探测器, 规划修复, 规划执行失败

Abstract: Aiming at the challenges caused by the persistence, concurrency and energy consumption of probe actions, a plan repair method of deep space probe based on the expected state sequence is proposed. In this method, the expected state sequence is formed of the expected effect of the unfinished action and the expected precondition of the unexecuted action in the pre designed plan, according to the execution status of the action. The expected state sequence is an ordered set of states with mixed logic and energy, providing subgoals for plan repair and also transforming the plan repair problem into the state transition path searching problem. During the search, the plan repair strategy with energy supply priority is proposed, which separates the logic repair from energy repair to reduce the difficulty of solving the problem. And this method enables the probe to recover from plan failure autonomously. Finally, the effectiveness and rationality of the proposed method are verified through simulation by taking the Mars Orbiter as an example.

Key words: Expected state sequence, Deep space probe, Plan repair, Plan execution failure

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