Rapid PDDLStream-based Task and Motion Planning of Space Station Manipulator

In order to improve the task and motion planning(TAMP) efficiency of the space station manipulator, a TAMP model is established, and a relaxed-incremental algorithm based on PDDLStream is proposed. Based on the significant variation in solving times of continuous variables under the motion constraints of the space station manipulator, the algorithm improves the overall planning efficiency by optimizing the interaction between continuous variable resolution and plan search processes. The feasibility and rapidity of the proposed algorithm are verified by simulation considering a space station module relocation task.