月面巡视探测器任务规划顶层设计与实现

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。

Top Design and Implementation of the Lunar Rover Mission Planning

The study of the lunar rover mission planning method, is the premise of the mission planning implementation. The research of the top design method of the lunar rover mission planning was carried out based on the mission planning project. The research included the analysis of the characteristic of the mission planning technology; the sorting of mission planning input conditions and constraints, and the unification of planning variables; the design of the mission planning framework; the linkage between the behavioral sequence and the uplink control instruction; the dynamic design of small patterns in which large modes wereused in behavior sequences, etc. The uncertainty of the task, and some constraints to the input information of fuzziness, were introduced through the mission planning project implementation. They need to be addressed in the process of the mission planning framework design and implementation.