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针对巡视器月面任务规划工程的可实现性,开展了巡视器任务规划顶层设计方法的研究,主要内容包括:任务规划技术特点的梳理与归纳;任务规划输入条件与约束条件的整理,规划变量的统一;任务规划框架的设计,巡视器行为序列与上行控制指令的衔接,针对巡视器行为序列的大模式套用小模式的动态设计等。通过巡视器任务规划工程实现的介绍,说明在巡视器任务规划的顶层设计中,任务的不确定性、部分约束与输入信息的模糊性,是任务规划框架设计以及在后续工程实现过程中需要重点考虑的内容,是与任务规划的工程可实现性直接相关的。
In view of the feasibility of patrol lunar mission planning project, the research on the top-level design method of patrol mission planning is carried out. The main contents include: sorting out and summarizing the technical features of mission planning; sorting and inputting conditions and constraints of mission planning; planning variables The design of task planning framework, the connection between sequence of patrol actions and uplink control instructions, and the dynamic design of small patterns for large modes of patrol behavior sequences. Through the introduction of the mission planning project of the patrol, the uncertainty of the mission, partial constraints and the ambiguity of the input information in the top-level design of the mission planning of the patrol are the key points of the task planning framework design and the subsequent project implementation The content to be considered is directly related to the project feasibility of the mission planning.