Research on mission planning technique of autonomous collaborative manipulation for multiple space robot

The Multiple Space Robot (abbreviated as MSR) can complete complex space manipulation mission. Under the background of future development and application of MSR, this paper proposes a mission planning technique for MSR On-Orbit Servicing. Mission of MSR is modeled based on Temporal Constraint Network, and complex temporal relations between subtasks of the mission are embodied with this model. Aiming at solving the problem of subtasks assignment, a modified Contract Net Protocol is proposed based on the basic concept of Contract Net Protocol, with a strategy of subtasks grouping bidding and a strategy of load balancing.