CN110175754A - A kind of emergency resources allocation and transportation mission planning method and system based on HTN planning - Google Patents
A kind of emergency resources allocation and transportation mission planning method and system based on HTN planning Download PDFInfo
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Abstract
The invention discloses a kind of emergency resources based on HTN planning to allocate and transport mission planning method and system, belong to the crossing domain of intelligent planning, public safety and Emergency decision, it include: that task is allocated and transported for emergency resources to be planned, original state set and initiating task collection of network are acquired, domain knowledge is set；Using 5 selection method of calculation of natural resources method, emergency resources distribution method and transport team in domain knowledge, emergency resources allocation and transportation Task-decomposing to be planned is generated into subtask in conjunction with original state set and initiating task collection of network；Then subtask is decomposed using the atomic task generation method in domain knowledge and generates atomic task, completed atomic task using the operator instantiation in domain knowledge, obtain emergency resources allocation and transportation mission planning scheme.The present invention can be well adapted for huge construction program Complex Programming Problem, effectively describe its domain knowledge when expressing resource Transport, show the hierarchy feature of emergency response task well.
Description
Technical field
The invention belongs to the crossing domains of intelligent planning, public safety and Emergency decision, are based on more particularly, to one kind
The emergency resources of HTN planning allocate and transport mission planning method and system.
Background technique
Emergency resources allocate and transport the key link as emergency response, are the emphasis of Post disaster relief work, related victims of the disaster's life
Property safety and social stability, therefore be of great immediate significance to its research.It is different from traditional commerce logistics, emergency money
Source Transport has the following characteristics that
(1) task has diversity and hierarchy.After the earthquake, emergency resources allocation and transportation are divided into rescue personnel's allocation and transportation, doctor
Treatment personnel allocation and transportation and living material allocation and transportation etc., task are various rather than single；For the decomposition of a certain specific tasks, example
Such as the emergency resources guarantee of demand point, it is necessary first to clear emergency resources type, followed by the demand of resource, followed by resource
Distribution and haulage vehicle dispense, and there is hierarchy between these decompositing for tasks.
(2) the constraint relationship is complicated.After the earthquake, emergency resources numerous types, limited amount in the short time need to consider
The priority of task carries out emergency resources distribution, meanwhile, there is also complicated the constraint relationships between task.
(3) policy setting has highly dynamic property.After the earthquake, with the propulsion of time, the differentiation of the condition of a disaster becomes
Change, emergency situation is caused to change always, so constantly change Version Dispatching is needed, to adapt to new emergency situation.
The features described above of emergency resources Transport determines the difficulty for formulating emergency resources Version Dispatching.In practical problem
In, after the earthquake, the experience that the formulation of emergency resources Version Dispatching depends on decision-maker previous mostly can not be made completely
Make rationally satisfied Version Dispatching；In research level, domestic and foreign scholars are directed to a certain local problem mostly, are based on mathematical modulo
Type optimizes.Wherein, founding mathematical models solution can not be well adapted for huge construction program Complex Programming Problem, for example
Shake emergency resources Transport；Secondly, cannot effectively describe its domain knowledge when expressing resource Transport, limit
Emergency plan maker utilizes field Heuristics solving practical problems, meanwhile, mathematical model cannot show to meet an urgent need well
The hierarchy feature of response task.
To sum up, founding mathematical models have certain limitation in the solution of emergency resources Transport.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides one kind to be based on HTN (Hierarchical
Task Network, level Task Network) planning emergency resources allocate and transport mission planning method and system, thus solve existing skill
Art has the technical issues of certain limitation in the solution of emergency resources Transport.
To achieve the above object, according to one aspect of the present invention, a kind of emergency resources tune based on HTN planning is provided
Mission planning method is transported, is included the following steps:
Task is allocated and transported for emergency resources to be planned, acquires original state set and initiating task collection of network, setting
Domain knowledge；
Using 5 selection method of calculation of natural resources method, emergency resources distribution method and transport team in domain knowledge, in conjunction with
Emergency resources to be planned are allocated and transported Task-decomposing and generate subtask by original state set and initiating task collection of network；
Then subtask is decomposed using the atomic task generation method in domain knowledge and generates atomic task, utilize field
Atomic task is completed in operator instantiation in knowledge, obtains emergency resources allocation and transportation mission planning scheme.
Further, original state collection is combined into s0={ SU0, TRANS0, SPEC0, Dis }, wherein SU0What is indicated is emergency
Material stock original state set, TRANS0That indicate is 5 original state set of transport team, SPEC0What is indicated is professional contingent
Original state set, the professional contingent include rescue team, medical team and expert team, and what Dis was indicated is emergency resources
Allocate and transport road network.
Further, initiating task collection of network is T0={ t1, t2, t3... }, ti=(demand_location,
Intensity, population), tiThe resource guarantee and rescue task that expression demand point is demand_location, i=1,
2,3..., demand_location indicate that Position Number of the demand point in emergency resources road network, intensity indicate demand
The earthquake intensity of point, population indicate the population of demand point.
Further, domain knowledge D={ O, M }, wherein O is operator set, and M is method set, operator set O
=！Movet,！Movep,！Transport }, operator！Movet instantiation is expressed as 5 transfer action of transport team, operator！
Transport instantiation is expressed as emergency materials transport movement, operator！Movep instantiation indicates professional contingent's transfer action；
Method set M={ ResDemand, ResAllocation, TruckSelect, AtomGenerate }, wherein ResDemand
Indicate calculation of natural resources method, ResAllocation indicates emergency resources distribution method, and TruckSelect indicates that transport team 5 selects
Selection method, AtomGenerate indicate atomic task generation method.
Further, calculation of natural resources method ResDemand={ m1, m2, m3, m4, m5, m6, calculation of natural resources method includes such as
Lower step:
Upper layer emergency resources type needed for being judged according to earthquake intensity size in emergency resources allocation and transportation task to be planned, on
Layer emergency resources type includes living material, rescue resource, medical resource and Expert Resources；
If the earthquake intensity of demand point is more than or equal to 6, access method m1, emergency resources to be planned are allocated and transported into Task-decomposing
Generate living material task, rescue resource tasks, medical resource task and Expert Resources support mission；
If the earthquake intensity of demand point is less than 6, access method m2, emergency resources allocation and transportation Task-decomposing to be planned is generated
Expert Resources support mission；
For living material task, required upper layer emergency resources type is living material, access method m3, calculate lower layer and answer
The quantity required of food, tent and drinking water in anxious resource；
For rescuing resource tasks, required upper layer emergency resources type is rescue resource, access method m4, calculate lower layer and answer
Rescue team's demand in anxious resource；
For medical resource task, required upper layer emergency resources type is medical resource, access method m5, calculate lower layer and answer
Medical team demand in anxious resource；
For Expert Resources task, required upper layer emergency resources type is Expert Resources, access method m6, strong using earthquake
Degree calculates expert team's demand in lower layer's emergency resources.
Further, emergency resources distribution method ResAllocation={ m7, m8, m9, m10, the emergency resources distribution
Method the following steps are included:
If lower layer's emergency resources type is professional contingent, access method m7, obtain professional contingent's distribution task；If
When lower layer's emergency resources type is living material, access method m8, obtain emergency materials distribution task；
If emergency materials is selected to distribute task, access method m9, the nearest Emergency Goods Supply of selection distance requirement point
Point, if the demand of the emergency materials storage level meet demand point in supply centre, generates transport task transfer, into transport team
5 selection methods；If the emergency materials storage level in the supply centre cannot fully meet demand, transport task transfer is generated,
Into 5 selection method of transport team, while the emergency materials storage level in the supply centre is updated, updates the emergency materials of current task
Demand reenters method m9, select next supply centre nearest from demand point, iterative solution, until answering for demand point
Anxious resources requirement is all met；
If professional contingent is selected to distribute task, access method m10, after obtaining the nearest professional contingent of distance requirement point, if
The branch professional contingent is able to satisfy the demand of demand point, then professional contingent transfer task movep is generated, into atomic task generation side
Method；If the branch professional contingent cannot fully meet demand, professional contingent transfer task movep is generated, while updating and choosing specially
The state of industry troop updates professional contingent's demand of current task, reenters method m10, select next fragmented demand point most
Close professional contingent, iterative solution, until professional contingent's demand of demand point is all met.
Further, 5 selection method TruckSelect={ m of transport team11, m12, 5 selection method of transport team include with
Lower step:
Read transport task transfer, access method m11If total gross traffic is equal to 0, transport task is completed, and terminates fortune
Defeated troop's selected section；
If total gross traffic is greater than 0,5 state of transport team is read, 5 position of transport team is obtained, it will be where transport team 5
The location matches of position and supply centre, the transport team 5 for obtaining supply centre position gathers, if the set of transport team 5 is not sky, from confession
It should put in the set of transport team 5 of position and select a transport team 5, emergency materials transport task transport be generated, into original
Subtask generation method；
If the collection of transport team 5 is combined into sky, access method m12, the transport team 5 nearest from supply centre is selected, transport is sequentially generated
Troop shifts task movet and emergency materials transport task transport, into atomic task generation method.
Further, atomic task generation method AtomGenerate={ m13, m14, m15, m16, m17, m18, atomic task
Generation method, comprising the following steps:
If atomic task is that professional contingent shifts task movep, pass through method set { m17, m18Generate operator！
Movep, by operator！Movep is instantiated as professional contingent's transfer action；
If atomic task is emergency materials transport task transport, pass through method set { m13, m14Generate operator！
Transport, by operator！Transport is instantiated as emergency materials transport movement；
If atomic task is that transport team 5 shifts task movet, pass through method set { m15, m16Generate operator！
Movet, by operator！Movet is instantiated as 5 transfer action of transport team.
It is another aspect of this invention to provide that a kind of emergency resources allocation and transportation task grouping based on HTN planning is provided,
Include:
Preprocessing module, for allocating and transporting task for emergency resources to be planned, acquisition original state set is appointed with initial
Business collection of network, is arranged domain knowledge；
Task-decomposing module, for utilizing calculation of natural resources method, emergency resources distribution method and the transport in domain knowledge
Emergency resources to be planned are allocated and transported Task-decomposing in conjunction with original state set and initiating task collection of network by troop's selection method
Generate subtask；
Mission planning module generates atom for decomposing subtask using the atomic task generation method in domain knowledge
Task completes atomic task using the operator instantiation in domain knowledge, obtains emergency resources allocation and transportation mission planning scheme.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
(1) the present invention is based on the emergency resources allocation and transportation mission planning methods of HTN planning can be well adapted for huge construction program complexity
Planning problem for example can solve the emergency resources allocation and transportation mission planning problem under seismoilogical background；Secondly, in expression resource allocation and transportation
When problem, its domain knowledge can effectively be described, so that emergency plan maker utilizes field Heuristics solving practical problems,
Meanwhile showing the hierarchy feature of emergency response task well by Task-decomposing.To sum up, the method for the present invention is being answered
There is very strong applicability in the solution of anxious resource Transport.
(2) present invention considers the task diversity and hierarchy, the constraint relationship complexity, decision of emergency resources Transport
Environment has many characteristics, such as highly dynamic property and difficult point, is based on HTN planing method, obtains scientific and reasonable earthquake emergency resource allocation and transportation
Scheme.Specific definition of the present invention allocates and transports domain knowledge towards the emergency resources of HTN planning, further enriches emergency resources tune
The theoretical knowledge of fortune problem；Secondly decision support is provided for the resource allocation and transportation in emergency event response process of emergency system, had certain
Realistic meaning.
Detailed description of the invention
Fig. 1 is a kind of stream of emergency resources allocation and transportation mission planning method based on HTN planning provided in an embodiment of the present invention
Cheng Tu；
Fig. 2 is the flow chart of calculation of natural resources method provided in an embodiment of the present invention；
Fig. 3 is the flow chart of emergency resources distribution method provided in an embodiment of the present invention；
Fig. 4 is the flow chart of 5 selection method of transport team provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figure 1, a kind of emergency resources based on HTN planning allocate and transport mission planning method, include the following steps:
Task is allocated and transported for emergency resources to be planned, acquires original state set and initiating task collection of network, setting
Domain knowledge；
Using 5 selection method of calculation of natural resources method, emergency resources distribution method and transport team in domain knowledge, in conjunction with
Emergency resources to be planned are allocated and transported Task-decomposing and generate subtask by original state set and initiating task collection of network；
Then subtask is decomposed using the atomic task generation method in domain knowledge and generates atomic task, utilize field
Atomic task is completed in operator instantiation in knowledge, obtains emergency resources allocation and transportation mission planning scheme.
Original state collection is combined into s0={ SU0, TRANS0, SPEC0, Dis }, wherein SU0What is indicated is that emergency materials deposit is first
Beginning state set, SU0={ su1, su2, su3..., SuiSome supply when (i=1,2,3...) is original state, in road network
The emergency materials reserve status of point.Sui={ res1, res2, res3..., resiAt the beginning of certain class emergency materials for supply centre deposit
Beginning state；resi={ supply_location, resource_name, supply_num, RT }, supply_location table
Show number of the supply centre locating for emergency materials in road network, resource_name indicates emergency materials type, supply_num
Indicate emergency materials storage level, RT indicates emergency materials time shaft.TRANS0What is indicated is 5 original state set of transport team,
TRANS0={ trans1, trans2, trans3..., transiWhat is indicated is single 5 original state of transport team；transi=
{ truck_ID, truck_location, truck_capacity, CT }, truck_ID indicate that transport team 5 numbers, truck_
Location indicates that Position Number of 5 current time of the transport team position in road network, truck_capactity indicate fortune
The transport power of defeated troop, CT are 5 time shaft of transport team.
SPEC0Indicate be professional contingent's original state set, wherein professional contingent include rescue team, medical team and
Expert team, SPEC0={ spec1, spec2, spec3..., speciIndicate the original state of Dan Zhi professional contingent；speci=
{ spec_ID, spec_location, spec_type, spec_hum, ST }, wherein spec_ID indicates professional contingent's number,
Spec_location indicates number of professional contingent's present position in road network, and spec_type indicates the class of professional contingent
Type.That Dis is indicated is emergency resources allocation and transportation road network, Dis={ seg1, seg2, seg3..., segiOne section is described in road network
The relevant information of road.segi={ from_node, to_node, distance, access }, from_node, to_node are
Two nodes of one section of road, distance are the distance between two nodes.Access indicates the accessibility of road, access
When value is 0, indicate that road interrupts；When value is 1, the coast is clear is indicated.
The initiating task collection of network is T0={ t1, t2, t3... }, ti=(demand_location,
Intensity, population), tiIndicate that demand point is the resource guarantee and rescue task of demand_location.Wherein,
Demand_location indicates that Position Number of the demand point in emergency resources road network, intensity indicate the disaster-stricken of demand point
Degree, is earthquake intensity in earthquake, and population indicates the population of demand point.
Domain knowledge D, specially a binary group D={ O, M }, wherein O is operator set, and M is method set.Neck
One operator of domain knowledge illustrates the effect of the precondition that atomic task executes and generation, can be expressed as a ternary
Group o=(head (o), pre (o), update (o)).Wherein, head (o) is the head of operator, contains names of operators and one
Group parameter, pre (o) indicate to execute the precondition that should meet before operator o, the effect after update (o) expression execution operator o
Fruit, including negative effects and plus effect.The instantiation of operator is the movement that can specifically execute；A method in domain knowledge
It illustrates how to resolve into a composite task into subtask set, wherein gather by composite task or atomic task subtask
Composition.Method m can be expressed as triple m=(head (m), pre (m), subtasks (m)).Wherein, the expression side head (m)
The head of method m contains method name and one group of parameter, keeps with the task names and parameter that this method can be used to be decomposed
Unanimously, pre (m) indicates that application method m decomposes the precondition that should meet before composite task, and subtasks (m) is indicated by method m
Decompose the subtask set generated.
Wherein, operator set O=！Movet,！Movep,！transport}.Operator！Movet instantiation is expressed as
5 transfer action of transport team, operator！Transport instantiation is expressed as emergency materials transport movement, operator！Movep table
Show professional contingent's transfer action；
Method set M={ ResDemand, ResAllocation, TruckSelect, AtomGenerate }.
ResDemand indicates calculation of natural resources method, ResDemand={ m1, m2, m3, m4, m5, m6}；ResAllocation indicates emergency
Resource allocation methods, ResAllocation={ m7, m8, m9, m10}；TruckSelect indicates 5 selection method of transport team,
TruckSelect={ m11, m12}；AtomGenerate indicates atomic task generation method, AtomGenerate={ m13, m14,
m15, m16, m17, m18}。
As shown in Fig. 2, calculation of natural resources method, comprising the following steps:
Upper layer needed for being judged according to earthquake intensity size in emergency resources allocation and transportation task (i.e. task demand) to be planned
Emergency resources type.Upper layer emergency resources type mainly includes living material, rescue resource, medical resource and Expert Resources.
Selected emergency resources support mission resource-demand, carries out the estimated demand of specific lower layer's emergency resources:
If the earthquake intensity of demand point is more than or equal to 6, access method m1, emergency resources to be planned are allocated and transported into Task-decomposing
Generate living material task, rescue resource tasks, medical resource task and Expert Resources support mission；
If the earthquake intensity of demand point is less than 6, access method m2, emergency resources allocation and transportation Task-decomposing to be planned is generated
Expert Resources support mission；
For living material task, required upper layer emergency resources type is living material, access method m3, only consider earthquake
I.e. 3 days gold rescue time 72 hours demands, calculate the quantity required of food, tent and drinking water in lower layer's emergency resources,
Specifically:
People=population*damageratio
Amout_food=people*unit1*3
Amout_water=people*unit2*3
Amout_tent=people*unit3*3
Wherein people is number of transferring and resettling, and population is disaster area total number of people, and damageratio is that house is tight
Weight damage rate, has corresponding relationship with earthquake intensity；Amout_food is food needs amount, and unit1 is everyone one day food
Demand, amout_water are drinking water needs amount, and unit2 is everyone one day drinking water needs amount, and amout_tent is
Tent demand, unit3 are everyone one day tent demand.
For rescuing resource tasks, required upper layer emergency resources type is rescue resource, access method m4, calculate lower layer and answer
Rescue team's demand in anxious resource, specifically:
Amout_rescuer=persons/rescuer_num
Persons=population*collapseratio
Wherein persons is earthquake buried person number, and population is demand point total number of people, and collapseratio is
House is badly damaged rate, has corresponding relationship with earthquake intensity, rescuer_num is the number of a rescue team；amout_
Rescuer is rescue team's demand.
For medical resource task, required upper layer emergency resources type is medical resource, access method m5, calculate lower layer and answer
Medical team demand amout_doctor in anxious resource, specifically:
Amout_doctor=persons/doctor_num
Persons=population*collapseratio
Wherein persons is earthquake buried person number, and population is demand point total number of people, and collapseratio is
House is badly damaged rate, has corresponding relationship with earthquake intensity, doctor_num is the number of a medical team.
For Expert Resources task, required upper layer emergency resources type is Expert Resources, access method m6, calculate lower layer and answer
Expert team's demand in anxious resource, has corresponding relationship with earthquake intensity.
As shown in figure 3, emergency resources distribution method, comprising the following steps:
Lower layer's emergency resources type needed for judgement task select, specifically:
If lower layer's emergency resources type is these professional contingents of rescue team, medical team and expert team, enter
Method m7, obtain professional contingent distribution task spec-select；
If lower layer's emergency resources type is food, drinking water, these living materials of tent, access method m8, obtain
Emergency materials distribute task supply-select；
If emergency materials is selected to distribute task, access method m9.Most using nearest available principle selection distance requirement point
Close Emergency Goods Supply point, if the demand of the emergency materials storage level meet demand point in supply centre, generates transport task
Transfer, into 5 selection method of transport team；
If the emergency materials storage level in the supply centre cannot fully meet demand, transport task transfer is generated, into
Enter 5 selection method of transport team, while updating the emergency materials storage level in the supply centre, the emergency materials for updating current task need
The amount of asking reenters method m9, select next supply centre nearest from demand point, iterative solution, until the emergency of demand point
Resources requirement is all met；
If professional contingent is selected to distribute task, access method m10, after obtaining the nearest professional contingent of distance requirement point, if
The branch professional contingent is able to satisfy the demand of demand point, then professional contingent transfer task movep is generated, into atomic task generation side
Method；
If the branch professional contingent cannot fully meet demand, professional contingent transfer task movep is generated, while updating choosing
The state of middle professional contingent updates professional contingent's demand of current task, reenters method m10, select next fragmented demand
The nearest professional contingent of point, iterative solution, until professional contingent's demand of demand point is all met.
As shown in figure 4,5 selection method of transport team, comprising the following steps:
Read current transportation task transfer, access method m11.If total gross traffic is equal to 0, transport task is completed, knot
5 selected section of beam transport team.
If total gross traffic is greater than 0, current transportation troop state is read, 5 present position of transport team is obtained, with supply
The location matches of point obtain currently gathering in the transport team 5 of supply centre position.If set is not sky, illustrate that supply centre currently has
Transport team 5.It selects a transport team 5, generates emergency materials transport task transport, into atomic task generation method,
System mode is updated simultaneously, reenters method m11, iterative solution, until completing the transport of total gross traffic；
If collection is combined into sky, illustrates that the transport team 5 in supply centre is current occupied, be carrying out transport task, access method
m12, select the transport team 5 nearest from supply centre.After selecting a nearest transport team 5 of distance, 5 turns of transport team is sequentially generated
Shifting task movet and emergency materials transport task transport, into atomic task generation method；
After completing the transfer of transport team 5 and emergency resources transport, system mode is updated, method m is reentered12, iteration asks
Solution completes all freight volume transports.After freight volume judgement is equal to 0, terminate 5 selected section of transport team.
Atomic task generation method, comprising the following steps:
If atomic task is that professional contingent shifts task movep, pass through method set { m17, m18Generate operator！
Movep, by operator！Movep is instantiated as professional contingent's transfer action；
If atomic task is emergency materials transport task transport, pass through method set { m13, m14Generate operator！
Transport, by operator！Transport is instantiated as emergency materials transport movement；
If atomic task is that transport team 5 shifts task movet, pass through method set { m15, m16Generate operator！
Movet, by operator！Movet is instantiated as 5 transfer action of transport team.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of emergency resources based on HTN planning allocate and transport mission planning method, which comprises the steps of:
Task is allocated and transported for emergency resources to be planned, acquires original state set and initiating task collection of network, field is set
Knowledge；
Using 5 selection method of calculation of natural resources method, emergency resources distribution method and transport team in domain knowledge, in conjunction with initial
Emergency resources to be planned are allocated and transported Task-decomposing and generate subtask by state set and initiating task collection of network；
Then subtask is decomposed using the atomic task generation method in domain knowledge and generates atomic task, utilize domain knowledge
In operator instantiation complete atomic task, obtain emergency resources allocation and transportation mission planning scheme.
2. a kind of emergency resources based on HTN planning as described in claim 1 allocate and transport mission planning method, which is characterized in that
The original state collection is combined into s0={ SU0, TRANS0, SPEC0, Dis }, wherein SU0What is indicated is emergency materials deposit initial shape
State set, TRANS0That indicate is 5 original state set of transport team, SPEC0What is indicated is professional contingent's original state set, institute
Stating professional contingent includes rescue team, medical team and expert team, and what Dis was indicated is emergency resources allocation and transportation road network.
3. a kind of emergency resources based on HTN planning as claimed in claim 1 or 2 allocate and transport mission planning method, feature exists
In the initiating task collection of network is T0={ t1, t2, t3... }, ti=(demand_location, intensity,
Population), tiThe resource guarantee and rescue task that expression demand point is demand_location, i=1,2,3...,
Demand_location indicates that Position Number of the demand point in emergency resources road network, intensity indicate the earthquake of demand point
Earthquake intensity, population indicate the population of demand point.
4. a kind of emergency resources based on HTN planning as claimed in claim 1 or 2 allocate and transport mission planning method, feature exists
In the domain knowledge D={ 0, M }, wherein O be operator set, M be method set, operator set O=！Movet,！
Movep,！Transport }, operator！Movet instantiation is expressed as 5 transfer action of transport team, operator！Transport is real
Exampleization is expressed as emergency materials transport movement, operator！Movep instantiation indicates professional contingent's transfer action；Method set M=
{ ResDemand, ResAllocation, TruckSelect, AtomGenerate }, wherein ResDemand indicates calculation of natural resources
Method, ResAllocation indicate emergency resources distribution method, and TruckSelect indicates 5 selection method of transport team,
AtomGenerate indicates atomic task generation method.
5. a kind of emergency resources based on HTN planning as claimed in claim 1 or 2 allocate and transport mission planning method, feature exists
In the calculation of natural resources method ResDemand={ m1, m2, m3, m4, m5, m6, calculation of natural resources method includes the following steps:
Upper layer emergency resources type needed for being judged according to earthquake intensity size in emergency resources allocation and transportation task to be planned, upper layer is answered
Anxious resource type includes living material, rescue resource, medical resource and Expert Resources；
If the earthquake intensity of demand point is more than or equal to 6, access method m1, emergency resources allocation and transportation Task-decomposing to be planned is generated
Living material task, rescue resource tasks, medical resource task and Expert Resources support mission；
If the earthquake intensity of demand point is less than 6, access method m2, emergency resources allocation and transportation Task-decomposing to be planned is generated into expert
Resource guarantee task；
For living material task, required upper layer emergency resources type is living material, access method m3, calculate lower layer's emergency money
The quantity required of food, tent and drinking water in source；
For rescuing resource tasks, required upper layer emergency resources type is rescue resource, access method m4, calculate lower layer's emergency money
Yuan Zhong rescue team demand；
For medical resource task, required upper layer emergency resources type is medical resource, access method m5, calculate lower layer's emergency money
Medical team demand in source；
For Expert Resources task, required upper layer emergency resources type is Expert Resources, access method m6, utilize earthquake intensity meter
Calculate expert team's demand in lower layer's emergency resources.
6. a kind of emergency resources based on HTN planning as claimed in claim 5 allocate and transport mission planning method, which is characterized in that
The emergency resources distribution method ResAllocation={ m7, m8, m9, m10, the emergency resources distribution method includes following
Step:
If lower layer's emergency resources type is professional contingent, access method m7, obtain professional contingent's distribution task；If lower layer
When emergency resources type is living material, access method m8, obtain emergency materials distribution task；
If emergency materials is selected to distribute task, access method m9, the Emergency Goods Supply point for selecting distance requirement point nearest, if
The demand of the emergency materials storage level meet demand point in supply centre, then generate transport task transfer, selects into transport team 5
Selection method；If the emergency materials storage level in the supply centre cannot fully meet demand, transport task transfer is generated, is entered
5 selection method of transport team, while the emergency materials storage level in the supply centre is updated, update the emergency materials demand of current task
Amount, reenters method m9, select next supply centre nearest from demand point, iterative solution, until the emergency of demand point provides
Source demand is all met；
If professional contingent is selected to distribute task, access method m10, after obtaining the nearest professional contingent of distance requirement point, if the branch
Professional contingent is able to satisfy the demand of demand point, then professional contingent transfer task movep is generated, into atomic task generation method；
If the branch professional contingent cannot fully meet demand, professional contingent transfer task movep is generated, while updating and choosing professional contingent
5 state updates professional contingent's demand of current task, reenters method m10, select next fragmented demand point nearest
Professional contingent, iterative solution, until professional contingent's demand of demand point is all met.
7. a kind of emergency resources based on HTN planning as claimed in claim 6 allocate and transport mission planning method, which is characterized in that
The 5 selection method TruckSelect={ m of transport team11, m12, 5 selection method of transport team the following steps are included:
Read transport task transfer, access method m11If total gross traffic is equal to 0, transport task is completed, and terminates transport team
5 selected sections；
If total gross traffic is greater than 0,5 state of transport team is read, 5 position of transport team is obtained, by 5 position of transport team
With the location matches in supply centre, the transport team 5 for obtaining supply centre position gathers, if the set of transport team 5 is not sky, from supply centre
A transport team 5 is selected in the set of transport team 5 of position, emergency materials transport task transport is generated, appoints into atom
Business generation method；
If the collection of transport team 5 is combined into sky, access method m12, the transport team 5 nearest from supply centre is selected, transport team 5 is sequentially generated
Transfer task movet and emergency materials transport task transport, into atomic task generation method.
8. a kind of emergency resources based on HTN planning as claimed in claim 7 allocate and transport mission planning method, which is characterized in that
The atomic task generation method AtomGenerate={ m13, m14, m15, m16, m17, m18, atomic task generation method, including
Following steps:
If atomic task is that professional contingent shifts task movep, pass through method set { m17, m18Generate operator！Movep, will
Operator！Movep is instantiated as professional contingent's transfer action；
If atomic task is emergency materials transport task transport, pass through method set { m13, m14Generate operator！
Transport, by operator！Transport is instantiated as emergency materials transport movement；
If atomic task is that transport team 5 shifts task movet, pass through method set { m15, m16Generate operator！Movet, will
Operator！Movet is instantiated as 5 transfer action of transport team.
9. a kind of emergency resources based on HTN planning allocate and transport task grouping characterized by comprising
Preprocessing module acquires original state set and initiating task net for allocating and transporting task for emergency resources to be planned
Domain knowledge is arranged in network set；
Task-decomposing module, for utilizing calculation of natural resources method, emergency resources distribution method and the transport team 5 in domain knowledge
Selection method generates emergency resources allocation and transportation Task-decomposing to be planned in conjunction with original state set and initiating task collection of network
Subtask；
Mission planning module generates atom times for decomposing subtask using the atomic task generation method in domain knowledge
Business completes atomic task using the operator instantiation in domain knowledge, obtains emergency resources allocation and transportation mission planning scheme.
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