面向复杂场景的层次式任务规划方法

doi:10.12305/j.issn.1001-506X.2025.04.22

Abstract

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 in complex 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 allocation is proposed. A general hierarchical task planning model, which deals with difficulties 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.

Key words: complex scenario, task planning, task scheme, task allocation

CLC Number:

TP391

Wen WANG, Kainan ZHAO, Lin YANG, Xiongjun YANG. Hierarchical task planning approach for complex scenarios[J]. Systems Engineering and Electronics, 2025, 47(4): 1255-1264.

Figures/Tables 18

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符号表示	含义
T	任务
ra_i	资源分配方案
za_i^k	任务执行方案
ra_i\|za_i^k	任务方案
s(T, ra_i\|za_i^k)	任务方案ra_i\|za_i^k对任务T的满足性
p	单个任务单元失效概率
d	任务方案切换平均时延
transfer(ra_i\|za_i^k, T)	任务T调整当前任务方案ra_i\|za_i^k

符号表示	含义
z_iⁿ	任务资源个体
Z_i={z_i¹, z_i², …, z_iⁿi}	同种资源类型个体构成资源集合Z_i
C_i^j={z_iⁿ}	Z_i按照个体差异划分为多个资源簇C_i^j
T={t₁, t₂, …, t_{h_t}}	任务T包括多个子任务
ra={(t_h, {C_i^j, n(t_h, C_i^j)})}	资源分配方案ra中子任务t_h需要资源簇C_i^j中n(t_h, C_i^j)个资源
C_i^j∈ra	资源分配方案ra中的资源簇C_i^j中存在个体参与执行任务
limit(t_h, Z_i)	子任务t_h对资源Z_i的能力要求
require(t_h, Z_i)	子任务t_h对资源Z_i的需求量
$\mathrm{za} \subset \mathrm{ra}$	可根据资源分配方案ra 生成执行单元分配方案za
za={(t_h, {z_i^t})}	执行单元分配方案中子任务t_h 由资源个体集合{z_i^t}执行
z_i^t∈za	执行单元分配方案za中的z_i^t用于执行任务
cap(C_i^j)	资源簇C_i^j的平均能力
cap(z_i^t)	资源个体z_i^t的平均能力
comb(ra_i)	组合资源分配方案ra_i下的任务执行方案
comb(T)	针对任务T, 组合资源分配方案及其对应任务执行方案
avail(z_i^t)	资源个体z_i^t的可用状态

集群	任务单元	聚合分类
b₁	b₁¹(0.9, 10), b₁²(0.9, 9), b₁³(0.8, 9), b₁⁴(0.7, 6), b₁⁵(0.6, 7), b₁⁶(0.6, 6), b₁⁷(0.6, 7), b₁⁸(0.4, 6), b₁⁹(0.5, 5), b₁¹⁰(0.6, 5)	{b₁¹, b₁², b₁³}(0.87, 9, 3), {b₁⁴, b₁⁵, b₁⁶, b₁⁷}(0.63, 6.5, 2), {b₁⁸, b₁⁹, b₁¹⁰}(0.5, 5.3, 1)
b₂	b₂¹(0.8, 6), b₂²(0.7, 7), b₂³(0.8, 7), b₂⁴(0.6, 7), b₂⁵(0.6, 5), b₂⁶(0.6, 6), b₂⁷(0.9, 8), b₂⁸(0.8, 9), b₂⁹(0.9, 9)	{b₂¹, b₂², b₂³}(0.77, 6.67, 4), {b₂⁴, b₂⁵, b₂⁶}(0.6, 6, 1), {b₂⁷, b₂⁸, b₂⁹}(0.87.8.67, 3)
b₃	b₃¹(0.6, 5), b₃²(0.6, 6), b₃³(0.6, 6), b₃⁴(0.5, 4), b₃⁵(0.5, 4), b₃⁶(0.5, 4), b₃⁷(0.4, 3), b₃⁸(0.4, 3)	{b₃¹, b₃², b₃³}(0.6, 5.67, 3), {b₃⁴, b₃⁵, b₃⁶}(0.5, 4, 4), {b₃⁷, b₃⁸}(0.4, 3, 1)
b₄	b₄¹(0.8, 7), b₄²(0.7, 8), b₄³(0.5, 6), b₄⁴(0.6, 5), b₄⁵(0.7, 6), b₄⁶(0.6, 7), b₄⁷(0.4, 4), b₄⁸(0.4, 5), b₄⁹(0.5, 4)	{b₄¹, b₄²}(0.75, 7.5, 2), {b₄³, b₄⁴}(0.55, 6.5, 2), {b₄⁵, b₄⁶}(0.65, 6.5, 4), {b₄⁷, b₄⁸, b₄⁹}(0.43, 4.33, 1)
b₅	b₅¹(0.6, 6), b₅²(0.7, 6), b₅³(0.6, 5), b₅⁴(0.5, 5), b₅⁵(0.6, 5), b₅⁶(0.8, 8), b₅⁷(0.8, 7)	{b₅¹, b₅²}(0.65, 6, 3), {b₅³, b₅⁴, b₅⁵}(0.57, 5, 1), {b₅⁶, b₅⁷}(0.8, 7.5, 4)

任务	t₁	t₂	t₃	t₄	t₅	t₆	t₇	t₈	t₉	t₁₀
资源需求量	1	2	5	1	4	3	3	1	3	2
单元资源能力要求	≥0.6	≥0.3	≥0.4	≥0.3	≥0.6	≥0.7	≥0.5	≥0.6	≥0.5	≥0.5

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Hierarchical task planning approach for complex scenarios

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