Research of a General Teleoperation Task Intelligent Planning Method

Abstract

Based on the technical challenges of teleoperation tasks in China，a general task intelligent planning method with hierarchical plan object model（HPOM）is proposed，which decomposes the task of rover into four levels: multi option operation，constrained behavior，multi branch instruction sequence and parameterized virtual instruction. The plan represented by constrained behavior is transformed into a behavior planning problem，and a set of solving methods is obtained to solve the practical problems such as difficult selection of multi branch operation and complex setting of event attributes under complex constraints. A process flow of human-in-the-loop（HITL）is proposed to verify the consistency of different planning granularity schemes and generate instruction sequence. This method has been successfully applied to Chang'E-4 mission，providing technical support for the success of the mission.

Keywords

CE-4 / task planning / hierarchical plan object model / PDDL modeling / human-machine collaboration