层次任务网络中的重新规划研究综述

层次任务网络(hierarchical task network, HTN)作为智能规划技术的重要组成部分,已成功应用于无人平台任务规划、应急方案制定等各领域中。由于日益增加的不确定因素对计划执行效果的影响,迫切需要重新规划技术,因此基于HTN的重新规划技术成为近年来的研究热点。首先,通过对当前研究现状的总结梳理,提出了基于HTN的3层重新规划框架。然后,分别从框架中的计划修复、局部重规划和全局重规划3个层次阐述了相应的技术路线与实现细节,针对不同层次指出了目前方法的优势与不足。最后,对该问题未来的研究方向进行了展望,并提出了待解决的关键问题及解决思路。

Review of replanning in hierarchical task network

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.