面向复杂场景的层次式任务规划方法

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中图分类号： TP391 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.04.22

Abstract：Due to the dynamic changes of complex environments and obstacles in information acquisition channel，it is difficult to assure completing tasks successfully.The task planning technology research under uncertainty incomplex scenarios is focused in this paper.After analyzing the content of task schemes，a flexible and dynamic task planning approach which supports fine-grained task allcation is proposed.A general hierarchical task planning model，which deals with dificulties of task schemes in adapting to changing environments and fulfilling task requirements under uncertainty is established. The proposed task planning model improves the effectiveness of task planning in complex scenarios.The simulation test demonstrate the hierarchical task planning approach is able to improve 70% task planning efficiency and optimize resource utilization rate.

Keywords：complex scenario；task planning；task scheme；task allocation

0引言

面向联合全域环境的任务规划，通过实时感知多域分布、海量多元信息，根据可用资源和任务规则约束，科学制定任务方案计划，以达成任务意图。（剩余18270字）