Task planning method and device based on end point backtracking under signal sequential logic constraint

The invention discloses a task planning method and device based on end point backtracking under signal sequential logic constraint, and the method comprises the steps of firstly building a search tree offline, namely adding the time dimension information in a two-dimensional position working space of an intelligent agent, and building a three-dimensional space; under the signal sequential logic constraint, in the three-dimensional space, taking an end point estimated according to a given task of the intelligent agent as a root node, and growing a fast random search tree towards an initial state plane until each possible position point in the initial state plane is covered by a leaf node; during the online task planning, giving an initial state of the intelligent agent, searching all leaf nodes in a reachable range of the intelligent agent in the fast random search tree, and selecting the leaf node with the minimum cost value as a planning node, wherein the path of the intelligent agent from the initial state