针对多分支航天器集群装配任务中部分航天器空闲、装配效率低的问题，提出了一种多航天器集群装配任务规划建模与序列分配方法。首先，考虑非严格守序并行装配场景，基于装配约束关系图建立了多航天器装配任务规划模型。其次，提出了装配前序指标和同路惯性指标，对非严格守序装配时子装配体数量和装配过程进行了约束，以避免不同航天器在连续装配任务中装配体之间来回切换的问题。最后，基于深度优先搜索策略改进了拓扑排序算法，解决了非严格守序并行装配中的序列分配规划问题；采用遗传算法对装配序列进行优化，在提高装配效率的同时有效降低了零散子装配体数量和连续任务切换次数；采用Gimbel-Sinkhorn网络为装配任务序列分配解集，实现了单一装配序列到可行装配解集的映射。最后通过典型在轨装配任务仿真，验证了任务规划模型与序列分配方法的有效性。
Spacecraft assembly task planning system and sequence allocation planning method are proposed to address the prob-lem of spacecraft idling and low assembly efficiency due to the assembly constraints during the multi-branch spacecraft cluster execution of on-orbit assembly task. multi-spacecraft assembly task planning model is established based on the assembly constraint relationship graph considering non-order-conserving assembly assumption scenario. The assembly order forward index and homologation inertia index are proposed to constrain the problems of fragmentation and explo-sion of the number of subassemblies under the non-order-conserving assumption, as well as the problem of switching between different spacecrafts for successive assembly tasks. The topological sorting algorithm is improved based on depth-first search to solve the sequence allocation planning problem under the non-order-conserving constraints; the ge-netic algorithm is adopted for assembly sequence optimization, which effectively reduces the number of fragmented sub-assemblies and the number of consecutive task switches while improving the assembly efficiency; and the Gimbel-Sinkhorn network is used as the sequence allocation solution set for the assembly tasks, which realizes the mapping of a single assembly sequence to a feasible assembly solution set. The simulation calculation of on-orbit assembly task se-quence allocation planning verifies the effectiveness of the model and method.
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