Study On Autonomous Mission Planning Technology For Deep Space Explorer Under Dynamic Uncertain Environment

Autonomous mission planning technology for deep space explorer is one of the key technologies to achieve the goal of high autonomy and high reliability in deep space free travelling and scientific exploration.In the process of mission planning and execution,there are many dynamic uncertainties existed in the unknown environment or hidden in the complex explorer system,which heavily degrades the safety of the system in long-term operation and negatively impacts the efficiency of mission planning and coordination.Therefore,it’s critical to develop new suitable mission planning technology under the condition of dynamic uncertainties for deep space explorer.In this dissertation,innovative methods for deep space explorer mission planning and coordination under dynamic uncertainties is studied from following two aspects: internal mission planning for a single explorer,and cooperative mission allocation for multiple explorers.Firstly,a kind of heuristic factor is designed to reduce the complexity of dynamic constraints,and heuristic continuous mission planning algorithm based on state timeline expansion is developed.Simulation results show that this this algorithm can improve the efficiency of planning and have the advantage in dynamic response.Secondly,fuzzy neural network is used to evaluate the level of uncertainties,and a local mission repair planning method based on hierarchical task network is developed.Simulation results show that this algorithm can flexibly choose the appropriate response strategy which makes up for the shortcomings of singleness of response strategy in early mission repair method,and improve the average response speed of the system.Thirdly,a new multidimensional interactive collaborative control framework based on multi-agent and a new mission planning negotiation mechanism based on honest contract-net and mission twice allocation strategy are proposed to improve the efficiency and flexibility of cooperation among multiple explorers.Finally,for the problem of mission optimal allocation,mission release method based on agent dynamic capability assessment strategy,mission bidding method based on constraint-checking and mission awarding method based on multi-index weighting strategy are developed.Simulation results show that these methods can reduce the consumption of computing,obtain good load balance of mission allocation result,and suitable for dynamic mission response processing.