Environment modeling and temporal mission planning for planetary rover exploration

In order to implement the task sequence planning for the planetary rover in one mission site under complex constraints, this paper presents an environment modeling method to form the domain model. This method simplifies the constraints by transforming them into temporal constraints, and therefore the task sequence planning problem is transformed into temporal planning problem. This method utilizes the dichotomizing search algorithm to get the constrained timeline model. All tasks need to be performed are constrained by the characteristic time points on the constrained timelines. The experiment demonstrates that this model is suitable for temporal mission planning of planetary rover.