Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network

Xiaofeng Gao; Yunhua Wu; Chengfei Yue; Haibo Guo

doi:10.1007/978-981-19-6613-2_643

Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network

Xiaofeng Gao^*
, Yunhua Wu
, Chengfei Yue
, Haibo Guo

^*Corresponding author for this work

Nanjing University of Aeronautics and Astronautics
Harbin Institute of Technology Shenzhen
Shanghai Institute of Satellite Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Aiming at the task requirements of multi-manipulator space robot for typical on-orbit servicing missions, considering complex space environment and the characteristics of many constraints, a multi-constrained task planning method for multi-arm space robot based on Hierarchical Task Network (HTN) is proposed. The network is widely used in the field of intelligent planning because of its simplicity and efficiency. However, the speed at which the HTN planner solves a planning problem depends on the order of the decomposition methods of the problem in the domain knowledge, so the planning results of the HTN planner are generally not optimal solutions. Therefore, Temporal-Difference learning is proposed in HTN. Finally, taking an on-orbit repairing task of a four-arm space robot as an example, the feasibility and effectiveness of the multi-constrained task planning method using the proposed task network are verified by simulation experiments.

Original language	English
Title of host publication	Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
Editors	Liang Yan, Haibin Duan, Yimin Deng, Liang Yan
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	6672-6682
Number of pages	11
ISBN (Print)	9789811966125
DOIs	https://doi.org/10.1007/978-981-19-6613-2_643
State	Published - 2023
Externally published	Yes
Event	International Conference on Guidance, Navigation and Control, ICGNC 2022 - Harbin, China Duration: 5 Aug 2022 → 7 Aug 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	845 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Guidance, Navigation and Control, ICGNC 2022
Country/Territory	China
City	Harbin
Period	5/08/22 → 7/08/22

Keywords

Hierarchical task network
Multi-arm space robot
On-orbit servicing
Task planning

Access to Document

10.1007/978-981-19-6613-2_643

Cite this

Gao, X., Wu, Y., Yue, C., & Guo, H. (2023). Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network. In L. Yan, H. Duan, Y. Deng, & L. Yan (Eds.), Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control (pp. 6672-6682). (Lecture Notes in Electrical Engineering; Vol. 845 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-6613-2_643

Gao, Xiaofeng ; Wu, Yunhua ; Yue, Chengfei et al. / Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network. Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. editor / Liang Yan ; Haibin Duan ; Yimin Deng ; Liang Yan. Springer Science and Business Media Deutschland GmbH, 2023. pp. 6672-6682 (Lecture Notes in Electrical Engineering).

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abstract = "Aiming at the task requirements of multi-manipulator space robot for typical on-orbit servicing missions, considering complex space environment and the characteristics of many constraints, a multi-constrained task planning method for multi-arm space robot based on Hierarchical Task Network (HTN) is proposed. The network is widely used in the field of intelligent planning because of its simplicity and efficiency. However, the speed at which the HTN planner solves a planning problem depends on the order of the decomposition methods of the problem in the domain knowledge, so the planning results of the HTN planner are generally not optimal solutions. Therefore, Temporal-Difference learning is proposed in HTN. Finally, taking an on-orbit repairing task of a four-arm space robot as an example, the feasibility and effectiveness of the multi-constrained task planning method using the proposed task network are verified by simulation experiments.",

keywords = "Hierarchical task network, Multi-arm space robot, On-orbit servicing, Task planning",

author = "Xiaofeng Gao and Yunhua Wu and Chengfei Yue and Haibo Guo",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",

year = "2023",

doi = "10.1007/978-981-19-6613-2\_643",

language = "英语",

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Gao, X, Wu, Y, Yue, C & Guo, H 2023, Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network. in L Yan, H Duan, Y Deng & L Yan (eds), Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. Lecture Notes in Electrical Engineering, vol. 845 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 6672-6682, International Conference on Guidance, Navigation and Control, ICGNC 2022, Harbin, China, 5/08/22. https://doi.org/10.1007/978-981-19-6613-2_643

Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network. / Gao, Xiaofeng; Wu, Yunhua; Yue, Chengfei et al.
Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. ed. / Liang Yan; Haibin Duan; Yimin Deng; Liang Yan. Springer Science and Business Media Deutschland GmbH, 2023. p. 6672-6682 (Lecture Notes in Electrical Engineering; Vol. 845 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network

AU - Gao, Xiaofeng

AU - Wu, Yunhua

AU - Yue, Chengfei

AU - Guo, Haibo

PY - 2023

Y1 - 2023

N2 - Aiming at the task requirements of multi-manipulator space robot for typical on-orbit servicing missions, considering complex space environment and the characteristics of many constraints, a multi-constrained task planning method for multi-arm space robot based on Hierarchical Task Network (HTN) is proposed. The network is widely used in the field of intelligent planning because of its simplicity and efficiency. However, the speed at which the HTN planner solves a planning problem depends on the order of the decomposition methods of the problem in the domain knowledge, so the planning results of the HTN planner are generally not optimal solutions. Therefore, Temporal-Difference learning is proposed in HTN. Finally, taking an on-orbit repairing task of a four-arm space robot as an example, the feasibility and effectiveness of the multi-constrained task planning method using the proposed task network are verified by simulation experiments.

AB - Aiming at the task requirements of multi-manipulator space robot for typical on-orbit servicing missions, considering complex space environment and the characteristics of many constraints, a multi-constrained task planning method for multi-arm space robot based on Hierarchical Task Network (HTN) is proposed. The network is widely used in the field of intelligent planning because of its simplicity and efficiency. However, the speed at which the HTN planner solves a planning problem depends on the order of the decomposition methods of the problem in the domain knowledge, so the planning results of the HTN planner are generally not optimal solutions. Therefore, Temporal-Difference learning is proposed in HTN. Finally, taking an on-orbit repairing task of a four-arm space robot as an example, the feasibility and effectiveness of the multi-constrained task planning method using the proposed task network are verified by simulation experiments.

KW - Hierarchical task network

KW - Multi-arm space robot

KW - On-orbit servicing

KW - Task planning

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M3 - 会议稿件

AN - SCOPUS:85151126291

SN - 9789811966125

T3 - Lecture Notes in Electrical Engineering

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BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control

A2 - Yan, Liang

A2 - Duan, Haibin

A2 - Deng, Yimin

A2 - Yan, Liang

PB - Springer Science and Business Media Deutschland GmbH

T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022

Y2 - 5 August 2022 through 7 August 2022

ER -

Gao X, Wu Y, Yue C, Guo H. Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network. In Yan L, Duan H, Deng Y, Yan L, editors, Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. Springer Science and Business Media Deutschland GmbH. 2023. p. 6672-6682. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-19-6613-2_643

Multi-arm Space Robot Mission Planning Based on Hierarchical Task Network

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