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Mathematical Problems in Engineering
Volume 2016 (2016), Article ID 2508304, 17 pages
Research Article

Hierarchical Task Planning for Multiarm Robot with Multiconstraint

School of Automation, Beijing University of Posts and Telecommunications, No. 10, Xitucheng Road, Haidian District, Beijing 100876, China

Received 25 March 2016; Revised 12 July 2016; Accepted 27 July 2016

Academic Editor: Francisco Gordillo

Copyright © 2016 Yifan Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Multiarm systems become the trends of space robots, for the on-orbit servicing missions are becoming more complex and various. A hierarchical task planning method with multiconstraint for multiarm space robot is presented in this paper. The process of task planning is separated into two hierarchies: mission profile analysis and task node planning. In mission profile analysis, several kinds of primitive tasks and operators are defined. Then, a complex task can be decomposed into a sequence of primitive tasks by using hierarchical task network (HTN) with those primitive tasks and operators. In task node planning, algorithm is improved to adapt the continuous motion of manipulator. Then, some of the primitive tasks which cannot be executed directly because of constraints are further decomposed into several task nodes by using improved algorithm. Finally, manipulators execute the task by moving from one node to another with a simple path plan algorithm. The feasibility and effectiveness of the proposed task planning method are verified by simulation.