Task planning method and system for uncertainty of complex scene

Abstract

The invention provides a task planning method and system for complex scene uncertainty, and belongs to the technical field of task planning. In a complex dynamic and uncertain environment, through a rapid and efficient task scheme adaptive planning method, resources are flexibly configured to support on-site adjustment of the task scheme, conversion from a pre-arranged plan to adaptive planning is realized, the effectiveness of the task scheme is ensured, and the requirements of different task scenes are met.

Description

Technical Field

[0001] The present invention belongs to the technical field of task planning, and in particular, relates to a task planning method and system for complex scenario uncertainty. Background Art

[0002] Mission planning provides guidance for mission execution by formulating mission plans that meet scenario constraints. In complex environments, dynamic uncertainty factors such as dynamic situation changes, blocked information acquisition channels, and unstable communication status limit the effectiveness of mission plans, making it difficult to ensure the smooth completion of missions. The occurrence of uncertainty factors will lead to a sharp increase in the constraints that need to be considered in mission planning, greatly increasing the difficulty of optimization. At the same time, during the execution of the mission, the occurrence of uncertain events will interfere with the normal execution of the mission and even cause the mission to fail. For example, for truck loading and transportation of goods, cargo loading is related to cargo type, truck capacity, etc., and truck transportation is affected by uncertain factors such as weather and traffic conditions. In the face of dynamic and complex environments, how to quickly and effectively integrate available resources to maximize mission effectiveness while ensuring mission completion.

[0003] Task planning methods are usually divided into pre-planning and dynamic planning. Pre-planning analyzes task objectives, real-time situation, etc., considers resource availability, cost-effectiveness, etc., and preliminarily determines the task execution plan to guide the preparation of task resources; dynamic planning can dynamically adjust or regenerate the task plan according to the real-time situation, and respond to uncertain interference factors that occur during the task process by scheduling resource allocation, so as to ensure the rationality and executability of the task plan as much as possible. However, due to the complexity of the system and the inexhaustibility of small-probability accidents, it is difficult to generate detailed and accurate task plan plans in pre-planning, and it increases the risk of future inadaptability, which brings the cost of adjusting or even re-planning the task plan. After the occurrence of uncertain factors, predictive planning uses reactive planning to make corresponding adjustments to the task plan during the task execution process. It has strong adaptability but cannot avoid task interruption when the plan fails in advance. What is more serious is that it ignores the adverse effects of frequent adjustments to the task plan. Summary of the invention

[0004] The present invention proposes a task planning scheme for the uncertainty of complex scenarios; it mainly solves the following three cardinality problems: first, the current task plan generates tightly coupled task resource allocation results, which is difficult to cope with the dynamic changes of resources in complex scenarios; second, the current static task plan is difficult to effectively integrate resources and cannot meet the needs of continuously evolving task processes; third, task planning is restricted by multiple complex factors such as the type and quantity of available resources, application rules, etc., and traditional task planning methods are difficult to quickly solve optimized resource allocation plans under multiple constraints and complex scenarios.

[0005] The first aspect of the present invention proposes a task planning method for complex scenario uncertainty, the method comprising: defining a loosely coupled task plan format based on the analysis of the task plan content, further determining the relationship between the resource allocation plan and the task execution plan to support subsequent task allocation; establishing a hierarchical task allocation model, and allocating tasks step by step by formulating resource allocation plans and task execution plans. When the allocated resources at any level change and cause the execution plan to become invalid, switching to a new task plan.

[0006] Among them, task types include information space processing tasks and physical space execution tasks.

[0007] Among them, the execution resources of the information space processing tasks are information space resources, including computing resources, storage resources, and transmission resources. The task goal is to change the status of information space resources, including completion, termination, and exception.

[0008] Among them, the execution resource for executing tasks in the physical space is the physical space entity, and the physical space entity refers to an entity that can independently execute tasks. The task goal is to change the state of a certain entity in the physical space, including shape, position, and size.

[0009] In some embodiments, the types of tasks include information space processing tasks and physical space execution tasks. The execution resources of information space processing tasks are information space resources, including computing, storage, transmission and other resources, and the task goal is to change the state of information space resources, including completion, suspension, exception, etc. The execution resources of physical space execution tasks are physical space entities, including entities such as people and machines that can independently execute tasks, and the task goal is to change the state of a certain entity in the physical space, including form, position, size, etc.

[0010] In the method, a loosely coupled task plan format is defined: resource type related fields are added to the task plan field, and the task plan is divided into a resource allocation plan and a task execution plan. The resource allocation plan is expressed as {task number, task target, resource type, resource quantity, time}, and the task execution plan is expressed as {execution resource number, execution resource quantity, execution time}.

[0011] In the method, the relationship between the resource allocation scheme and the task execution scheme is determined: a task T has multiple resource allocation schemes that meet the conditions ra(T) = {ra1, ra2, ..., ra m}, a resource allocation scheme ra i Generate multiple task execution plans

[0012] In the method, the task plan and the plan adjustment method are defined:

[0013] The task plan can be expressed as:

[0014]

[0015] When a task execution plan When failure occurs, quickly switch to the same resource allocation scheme ra i Other mission implementation plans under the

[0016] When the current resource allocation plan cannot meet the task requirements, readjust the resource allocation plan and generate a corresponding task execution plan:

[0017]

[0018] In the method, the available task resources are defined:

[0019] Resource type division: Task resources are divided into m sets {Z1, Z2, …, Z m}, i=1,2,…,m, indicating that a resource type contains multiple resource individuals

[0020] Resource cluster division: There are differences in the capabilities of individual resources within the same resource type. i Resources with similar capabilities are aggregated and classified to form k i resource clusters, i=1,2,…,m, each resource cluster By Z i The individual composition of resources,

[0021] In the method, a resource allocation plan is formulated:

[0022] The upper-level task allocation control system selects a set of task units that meet the requirements according to the task requirements to form a resource allocation plan, and issues resource tasks to the set of task units in the allocation plan:

[0023] Task T includes multiple subtasks T = {t1, t2, ..., t h}, t h (h=1,2,…,n) are the subtasks; the resource allocation scheme is expressed as Resource Cluster Participate in subtask h The number of resource individuals;

[0024] When determining the resource allocation plan, resource clusters and the number of individual resources are allocated to each subtask to meet the resource requirements of the subtask; the optimization goal of resource allocation is to select matching resource clusters to maximize the possibility of task completion:

[0025]

[0026] Formula (1) is the optimization goal. From the perspective of resources, under the premise of meeting the task requirements, the smaller the proportion of resources used in each resource cluster, the greater the flexibility of the task unit in the execution phase, so as to cope with the dynamic replacement when the task unit fails;

[0027] In formula (2), For resources When the average capacity of a resource cluster meets the requirements of a subtask, the resource cluster participates in the subtask. The average performance parameter of the resource cluster in the corresponding environment is used to represent the number of resource individuals participating in the task. A natural number that does not exceed the total number of available resources in the resource cluster

[0028] In formula (3), the resource cluster The sum of the number of resource individuals participating in all subtasks does not exceed the total number of available resources in the resource cluster;

[0029] In formula (4), For resource cluster, for subtask t h The amount of resources provided, the amount of resources allocated is not less than t h The resource requirement require(t h ).

[0030] In the method, a task execution plan is formulated:

[0031] The task unit set formulates a task execution plan based on the received resource tasks and the specific execution unit status, and reports the execution plan to the task allocation control system;

[0032] The execution unit allocation scheme is expressed as For each subtask t h , ra has determined the resource clusters and resource quantities involved in the task; the execution unit allocation needs to select task units from the corresponding resource clusters to join za until t is satisfied h Resource requirements; the optimization goal of execution unit allocation is to minimize the cost of task units:

[0033]

[0034] In formula (5), Task Unit The execution cost, Task Unit With subtask t h distribution relationship;

[0035] In formula (6), when a task unit is selected to participate in a task, is 1, otherwise it is 0;

[0036] In formula (7), each task unit is restricted to participate in at most one subtask;

[0037] In formula (8), The capacity of the execution unit, for each resource cluster The resource capacity of the selected execution unit satisfies the amount of resources provided by the resource cluster in the resource allocation scheme.

[0038] In the method, after the task allocation control system confirms that the task execution plan is consistent with the resource allocation plan, it calls the corresponding resources to start executing the task; during the task execution process, if it is found that the execution unit fails due to failure, if the task unit set can continue to complete the task, the task unit set will reselect a new execution unit and formulate a task execution plan to continue executing the task; otherwise, it will report to the upper-level task allocation control system, re-formulate the resource allocation plan and task execution plan, re-allocate resources, determine a new task unit set and formulate a task execution plan.

[0039] The second aspect of the present invention proposes a task planning system for complex scenario uncertainty, the system includes a processing unit, and the processing unit is configured to perform the following in a working state: defining a loosely coupled task plan format based on the analysis of the task plan content, and further determining the relationship between the resource allocation plan and the task execution plan to support subsequent task allocation; establishing a hierarchical task allocation model, and allocating tasks step by step by formulating resource allocation plans and task execution plans, and switching to a new task plan when changes in allocated resources at any level cause the execution plan to become invalid.

[0040] Among them, task types include information space processing tasks and physical space execution tasks.

[0041] Among them, the execution resources of the information space processing tasks are information space resources, including computing resources, storage resources, and transmission resources. The task goal is to change the status of information space resources, including completion, termination, and exception.

[0042] Among them, the execution resource for executing tasks in the physical space is the physical space entity, and the physical space entity refers to an entity that can independently execute tasks. The task goal is to change the state of a certain entity in the physical space, including shape, position, and size.

[0043] The third aspect of the present invention discloses an electronic device. The electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the task planning method for complex scene uncertainty described in the first aspect of the present disclosure are implemented.

[0044] The fourth aspect of the present invention discloses a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the task planning method for complex scene uncertainty described in the first aspect of the present disclosure.

[0045] In summary, the hierarchical task allocation method for complex scenarios proposed in the present invention is used in complex dynamic and uncertain environments. Through a fast and efficient adaptive planning method for task plans, resources can be flexibly configured to support on-the-spot adjustment of task plans, thereby realizing the transition from plan-based to adaptive planning, ensuring the effectiveness of task plans, and meeting the needs of different task scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 Schematic diagram of a loosely coupled task solution format according to an embodiment of the present invention.

[0048] Figure 2 A schematic diagram of adjusting a task allocation scheme according to an embodiment of the present invention.

[0049] Figure 3 It is a schematic diagram of a hierarchical task allocation process according to an embodiment of the present invention.

[0050] Figure 4 The figure is a structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0052] The present invention proposes a hierarchical task allocation scheme for complex scenarios, which is used in complex dynamic and uncertain environments. Through a fast and efficient adaptive planning method for task plans, resources are flexibly allocated to support on-the-spot adjustment of task plans, and the transformation from plan-based to adaptive planning is realized, ensuring the effectiveness of task plans to meet the needs of different task scenarios. The present invention mainly solves the following three problems: First, the current task plan generates tightly coupled task resource allocation results, which is difficult to cope with the dynamic changes of resources in complex scenarios; second, the current static task plan is difficult to effectively integrate resources and cannot meet the needs of continuously evolving task processes; third, task planning is limited by multiple complex factors such as the type and quantity of available resources, application rules, etc., and traditional task planning methods are difficult to quickly solve optimized resource allocation plans under multiple constraints and complex scenarios.

[0053] A first aspect of the present invention provides a hierarchical task allocation method for complex scenarios.

[0054] Firstly, based on the analysis of the content of the task plan, a loosely coupled task plan format is proposed to clarify the relationship between the resource allocation plan and the task execution plan to support flexible, dynamic and fine-grained task allocation; then a general hierarchical task allocation model is established to achieve the step-by-step allocation of tasks through the two steps of formulating resource allocation plan and task execution plan, thereby improving the feasibility of the task plan; when the allocated resources at any level change, causing the execution plan to become invalid, it is possible to quickly switch to a new task plan to shorten the task planning time.

[0055] Among them, task types include information space processing tasks and physical space execution tasks.

[0056] Among them, the execution resources of the information space processing tasks are information space resources, including computing resources, storage resources, and transmission resources. The task goal is to change the status of information space resources, including completion, termination, and exception.

[0057] Among them, the execution resource for executing tasks in the physical space is the physical space entity, and the physical space entity refers to an entity that can independently execute tasks. The task goal is to change the state of a certain entity in the physical space, including shape, position, and size.

[0058] The first step is to define a loosely coupled task solution (such as Figure 1 shown):

[0059] Add resource type related fields in the task plan field, and divide the task plan into two parts: resource allocation plan and task execution plan. The resource allocation plan includes {task number, task target, resource type, resource quantity, time}, and the task execution plan includes {execution resource number, execution resource quantity, execution time}.

[0060] The second step is to define the relationship between resource allocation plan and task execution plan:

[0061] A task T can have multiple resource allocation schemes that meet the conditions: ra(T) = {ra1, ra2, ..., ra m}, a resource allocation scheme ra i Multiple task execution plans can be generated

[0062] The third step is to define the task plan and the method of adjusting the plan (such as Figure 2 shown):

[0063] The task plan can be expressed as

[0064]

[0065] When a task execution plan When failure occurs, there is no need to adjust the resource allocation plan and the same resource allocation plan can be quickly switched to. i If the current resource allocation plan cannot meet the task requirements, it means that the task unit of this type can no longer complete the task, and the resource allocation plan needs to be readjusted and the corresponding task execution plan generated.

[0066]

[0067] The fourth step is to define available task resources:

[0068] 4.1 Resource type division: Task resources can be divided into m sets {Z1, Z2, …, Z m}, (i=1,2,…,m) indicates that a resource type contains multiple resource individuals

[0069] 4.2 Resource cluster division: Due to different geographical locations, environmental conditions, etc. (for example, there are large differences in vehicle speed and mileage in mountainous and plain areas), there are differences in the capabilities of individual resources within the same resource type. i Resources with similar capabilities are aggregated and classified to form k i Resource Cluster Each resource cluster By Z i The individual components of the resources.

[0070] Step 5: Formulate a resource allocation plan: The upper-level task allocation control system selects a set of task units that meet the requirements according to the task requirements to form a resource allocation plan, and issues resource tasks to the task unit set in the allocation plan:

[0071] Task T includes multiple subtasks T = {t1, t2, ..., t h}, t h (h=1,2,…,n) are the subtasks. The resource allocation scheme is expressed as in Resource Cluster Participate in subtask h When determining the resource allocation plan, it is necessary to allocate appropriate resource clusters and resource individuals to each subtask to meet the resource requirements of the subtask. The optimization goal of resource allocation is to select appropriate resource clusters to maximize the possibility of task completion:

[0072]

[0073] 1) Formula (1) is the optimization goal. From the perspective of resources, under the premise of meeting the task requirements, the smaller the proportion of resources used in each resource cluster, the greater the flexibility of the task unit in the execution phase, so as to cope with the need for dynamic replacement when the task unit fails.

[0074] 2) In formula (2), For resources The resource cluster can participate in the subtask only when its average capacity can meet the subtask requirements. The average performance parameter of the resource cluster in the corresponding environment is used to represent the number of resource individuals participating in the task. A natural number that does not exceed the total number of available resources in the resource cluster

[0075] 3) In formula (3), resource cluster The sum of the number of resource individuals participating in all subtasks shall not exceed the total number of available resources in the resource cluster.

[0076] 4) In formula (4), The resource cluster can be used for subtask t h The amount of resources provided, the amount of resources allocated is not less than t h The resource requirement require(t h ).

[0077] Step 6: Formulate a task execution plan: The task unit set formulates a task execution plan based on the received resource tasks and the specific execution unit status, and reports the execution plan to the task allocation control system;

[0078] The execution unit allocation scheme can be expressed as For each subtask t h, ra has determined the resource clusters and resource quantities involved in the task. The execution unit allocation needs to select appropriate task units from the corresponding resource clusters to join za until t is satisfied. h Resource requirements. The optimization goal of execution unit allocation is to minimize the cost of task units:

[0079]

[0080] 1) In formula (5), Task Unit The execution cost, Task Unit With subtask t h The distribution relationship

[0081] 2) In formula (6), when a task unit is selected to participate in a task, 1 otherwise 0

[0082] 3) In formula (7), each task unit is limited to participate in at most one subtask

[0083] 4) In formula (8), For each resource cluster, The resource capacity of the selected execution unit can meet the amount of resources that the resource cluster needs to provide in the resource allocation plan.

[0084] Step 7: Task execution: After the task allocation control system confirms that the task execution plan is consistent with the resource allocation plan, it calls the corresponding resources to start executing the task;

[0085] Step 8. Handling execution plan failure: During the task execution process, if it is found that the execution unit fails due to failure, if the task unit set can continue to complete the task, the task unit set will reselect a new execution unit and formulate a task execution plan to continue the task; otherwise, it will report to the upper-level task allocation control system, execute steps 5 to 7, reallocate resources, determine a new task unit set and formulate a task execution plan.

[0086] The overall process from step 1 to step 8 is as follows Figure 3 shown.

[0087] In some embodiments, the task types include information space processing tasks and physical space execution tasks.

[0088] In some embodiments, the execution resources of the information space processing task are information space resources, including computing, storage, transmission and other resources, and the task goal is to change the state of the information space resources, including completion, suspension, exception, etc. For example, for a data computing task, the task goal is to complete the calculation of t amount of data in r time, and the available execution resources are the computing resources on N servers. Task planning needs to reasonably distribute the data computing task to multiple servers to ensure that the calculation is completed within the time limit.

[0089] In some embodiments, the execution resources for executing tasks in physical space are physical space entities, including entities such as people and machines that can independently execute tasks. The task goal is to change the state of a certain entity in physical space, including form, position, size, etc. For example, for a task of loading and transporting goods by trucks, the task goal is to transport t tons of goods consisting of various items from A to B within r time. The available execution resources are N trucks with different load capacities and driving performances. Task planning needs to reasonably distribute the goods to multiple trucks to ensure that the goods are delivered to the destination on time.

[0090] In summary, the loosely coupled task plan format proposed in the present invention gives the task plan the ability to be flexibly adjusted, and can support planning of different granularities at the resource level and unit level. The hierarchical task allocation method proposed in the present invention realizes the linkage planning of the upper and lower levels, and the generated task plan reduces the task execution cost as much as possible under the premise of ensuring the maximum possibility of task completion. The task plan adjustment method proposed in the present invention can quickly switch to a new task plan when the task plan fails, shortening the task interruption delay and improving the task execution efficiency.

[0091] The second aspect of the present invention proposes a task planning system for complex scenario uncertainty, the system includes a processing unit, and the processing unit is configured to perform the following in a working state: defining a loosely coupled task plan format based on the analysis of the task plan content, and further determining the relationship between the resource allocation plan and the task execution plan to support subsequent task allocation; establishing a hierarchical task allocation model, and allocating tasks step by step by formulating resource allocation plans and task execution plans, and switching to a new task plan when changes in allocated resources at any level cause the execution plan to become invalid.

[0092] Among them, task types include information space processing tasks and physical space execution tasks.

[0093] Among them, the execution resources of the information space processing tasks are information space resources, including computing resources, storage resources, and transmission resources. The task goal is to change the status of information space resources, including completion, termination, and exception.

[0094] Among them, the execution resource for executing tasks in the physical space is the physical space entity, and the physical space entity refers to an entity that can independently execute tasks. The task goal is to change the state of a certain entity in the physical space, including shape, position, and size.

[0095] The third aspect of the present invention discloses an electronic device. The electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the task planning method for complex scene uncertainty described in the first aspect of the present disclosure are implemented.

[0096] Figure 4 is a structural diagram of an electronic device according to an embodiment of the present invention, such as Figure 4 As shown, the electronic device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, near field communication (NFC) or other technologies. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covered on the display screen, or a button, a trackball or a touch pad set on the housing of the electronic device, or an external keyboard, touch pad or mouse, etc.

[0097] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a structural diagram of the part related to the technical solution of the present disclosure, and does not constitute a limitation on the electronic device to which the technical solution of the present application is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0098] The fourth aspect of the present invention discloses a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the task planning method for complex scene uncertainty described in the first aspect of the present disclosure.

[0099] In summary, the hierarchical task allocation method for complex scenarios proposed in the present invention is used in complex dynamic and uncertain environments. Through a fast and efficient adaptive planning method for task plans, resources can be flexibly configured to support on-the-spot adjustment of task plans, thereby realizing the transition from plan-based to adaptive planning, ensuring the effectiveness of task plans, and meeting the needs of different task scenarios.

[0100] Please note that the technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. The above-mentioned embodiments only express several implementation methods of the present application, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, several variations and improvements can be made, which all belong to the scope of protection of the present application. Therefore, the scope of protection of the patent in this application shall be based on the attached claims.

Claims

1. A task planning method for complex scene uncertainty, characterized in that: The method comprises: Based on the analysis of the task plan content, a loosely coupled task plan format is defined, and the relationship between the resource allocation plan and the task execution plan is further determined to support subsequent task allocation; Establish a hierarchical task allocation model, and allocate tasks step by step by formulating resource allocation plans and task execution plans. When the allocation of resources at any level changes and causes the execution plan to become invalid, switch to a new task plan. Among them, the task types include information space processing tasks and physical space execution tasks; Among them, the execution resources of the information space processing task are information space resources, including computing resources, storage resources, and transmission resources. The task goal is to change the status of information space resources, including completion, suspension, and exception; Among them, the execution resource for executing tasks in the physical space is the physical space entity, and the physical space entity refers to an entity that can independently execute tasks. The task goal is to change the state of a certain entity in the physical space, including shape, position, and size.

2. A task planning method for complex scene uncertainty according to claim 1, It is characterized in that In the method, a loosely coupled task plan format is defined: resource type related fields are added to the task plan field, and the task plan is divided into a resource allocation plan and a task execution plan. The resource allocation plan is expressed as {task number, task target, resource type, resource quantity, time}, and the task execution plan is expressed as {execution resource number, execution resource quantity, execution time}.

3. A task planning method for complex scene uncertainty according to claim 2, characterized in that: In the method, the relationship between the resource allocation scheme and the task execution scheme is determined: a task T has multiple resource allocation schemes that meet the conditions ra(T) = {ra1, ra2, ..., ra m }, a resource allocation scheme ra i Generate multiple task execution plans 4. The task planning method for complex scene uncertainty according to claim 3 is characterized in that: In the method, the task plan and the plan adjustment method are defined: The task plan can be expressed as: When a task execution plan When failure occurs, quickly switch to the same resource allocation scheme ra i Other mission implementation plans under the When the current resource allocation plan cannot meet the task requirements, readjust the resource allocation plan and generate a corresponding task execution plan:

5. The method for task planning facing uncertainty in complex scenarios according to claim 4, characterized in that: In the method, the available task resources are defined: Resource type division: Task resources are divided into m sets {Z1, Z2, ..., Z m }, Indicates that a resource type contains multiple resource individuals Resource cluster division: There are differences in the capabilities of individual resources within the same resource type. i Resources with similar capabilities are aggregated and classified to form k i resource clusters, Each resource cluster By Z i The individual composition of resources, 6. The method for task planning facing uncertainty in complex scenarios according to claim 5, characterized in that: In the method, a resource allocation plan is formulated: The upper-level task allocation control system selects a set of task units that meet the requirements according to the task requirements to form a resource allocation plan, and issues resource tasks to the set of task units in the allocation plan: Task T includes multiple subtasks T = {t1, t2, ..., t n }, t h (h=1, 2, ..., n) are the subtasks; the resource allocation scheme is expressed as Resource Cluster Participate in subtask h The number of resource individuals; When determining the resource allocation plan, resource clusters and the number of individual resources are allocated to each subtask to meet the resource requirements of the subtask; the optimization goal of resource allocation is to select matching resource clusters to maximize the possibility of task completion: Formula (1) is the optimization goal. From the perspective of resources, under the premise of meeting the task requirements, the smaller the proportion of resources used in each resource cluster, the greater the flexibility of the task unit in the execution phase, so as to cope with the dynamic replacement when the task unit fails; In formula (2), For resources When the average capacity of a resource cluster meets the requirements of a subtask, the resource cluster participates in the subtask. The average performance parameter of the resource cluster in the corresponding environment is used to represent the number of resource individuals participating in the task. A natural number that does not exceed the total number of available resources in the resource cluster In formula (3), the resource cluster The sum of the number of resource individuals participating in all subtasks does not exceed the total number of available resources in the resource cluster; In formula (4), For resource cluster, for subtask t h The amount of resources provided, the amount of resources allocated is not less than t h The resource requirement require(t h ).

7. The method for task planning facing uncertainty in complex scenarios according to claim 6, characterized in that: In the method, a task execution plan is formulated: The task unit set formulates a task execution plan based on the received resource tasks and the specific execution unit status, and reports the execution plan to the task allocation control system; The execution unit allocation scheme is expressed as For each subtask t h , ra has determined the resource clusters and resource quantities involved in the task; the execution unit allocation needs to select task units from the corresponding resource clusters to join za until t is satisfied h Resource requirements; the optimization goal of execution unit allocation is to minimize the cost of task units: In formula (5), Task Unit The execution cost, Task Unit With subtask t h distribution relationship; In formula (6), when a task unit is selected to participate in a task, is 1, otherwise it is 0; In formula (7), each task unit is restricted to participate in at most one subtask; In formula (8), The capacity of the execution unit, for each resource cluster The resource capacity of the selected execution unit satisfies the amount of resources provided by the resource cluster in the resource allocation scheme.

8. The method for task planning facing uncertainty in complex scenarios according to claim 7, characterized in that: In the method, after the task allocation control system confirms that the task execution plan is consistent with the resource allocation plan, it calls the corresponding resources to start executing the task; during the task execution process, if it is found that the execution unit fails due to failure, if the task unit set can continue to complete the task, the task unit set will reselect a new execution unit and formulate a task execution plan to continue executing the task; otherwise, it will report to the upper-level task allocation control system, re-formulate the resource allocation plan and task execution plan, re-allocate resources, determine a new task unit set and formulate a task execution plan.

9. A task planning system for complex scene uncertainty, characterized in that: The system comprises a processing unit, which in a working state is configured to perform: Based on the analysis of the task plan content, a loosely coupled task plan format is defined, and the relationship between the resource allocation plan and the task execution plan is further determined to support subsequent task allocation; Establish a hierarchical task allocation model, and allocate tasks step by step by formulating resource allocation plans and task execution plans. When the allocation of resources at any level changes and causes the execution plan to become invalid, switch to a new task plan. Among them, the task types include information space processing tasks and physical space execution tasks; Among them, the execution resources of the information space processing task are information space resources, including computing resources, storage resources, and transmission resources. The task goal is to change the status of information space resources, including completion, suspension, and exception; Among them, the execution resource for executing tasks in the physical space is the physical space entity, and the physical space entity refers to an entity that can independently execute tasks. The task goal is to change the state of a certain entity in the physical space, including shape, position, and size.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps in the task planning method for complex scene uncertainty described in any one of claims 1-8 are implemented.

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