层次任务网络中的重新规划研究综述

doi:10.3969/j.issn.1001-506X.2020.12.21

Abstract

Abstract:

As an important part of the intelligent planning technology, hierarchical task network (HTN) is successfully applied to the task planning in unmanned aerial vehicle platform, emergency plan formulation and other fields. Due to effect the increasing uncertain factors on the implementation the influence of the plan, it is urgent to use replanning technology, thus the replanning technology based on HTN has become a hotspot in recent years. First of all, a three-layer replan framework based on HTN is proposed by summarizing the current research status. Then, the corresponding technical route and implementation details are represented from three levels of plan repair, local replanning and global replanning in the framework respectively, and the advantages and disadvantages of the current method are pointed out for different levels. Finally, the future research direction of this problem is prospected, and the key problems to be solved and the solutions are putting forward.

Key words: intelligent planning, hierarchical task network (HTN), plan repair, local replanning, global replanning

CLC Number:

TP181

Tianhao SHAO, Hongjun ZHANG, Kai CHENG, Chengyou DAI, Xiaohan YU, Ke ZHANG. Review of replanning in hierarchical task network[J]. Systems Engineering and Electronics, 2020, 42(12): 2833-2846.

Figures/Tables 10

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重新规划中的技术方法	速度	稳定性	相关性	实现难度	环境适应性
基于修复规则库的计划修复	快	高	强	中	劣
基于符号模型的计划修复	快	中	中	低	劣
基于标志位的局部重规划	中	低	弱	中	中
基于依赖关系的局部重规划	慢	高	强	高	中
基于模型拓展的全局重规划	慢	中	中	高	优
基于限制行动数目的全局重规划	与N有关	低	弱	低	优

Review of replanning in hierarchical task network

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