基于状态差异的火星巡视器快速任务规划修复方法

The uncertainty of Mars environment and the difficulty to predict the failure of electronic equipment will seriously affect the actual effect of the pre-designed plan of the rover on Martian surface, resulting in plan execution failure. To solve this problem, a fast mission plan repair method based on state difference is proposed based on the fact that there is long delay between the Mars rover and the ground station. This method constructs partial states at different times by extracting the key information from the existing plan, lying on the difference between the perception state and the necessary state of action execution. And then the rapid mission plan repair strategy for Mars rover based on the partial state is presented. In this strategy, to improve the efficiency of plan repair, the search space deletion method based on the state difference between the actual state and the partial state is proposed. Simulation results demonstrate that this method can not only improve the efficiency of mission plan repair, but also ensure the plan stability.