时间代价启发式多月基装备协同任务规划方法

In order to optimize the overall mission duration of the lunar scientific research station construction, a time-cost heuristic planning method for the multi-robot cooperative mission is proposed. For the in-situ and path tasks in the construction process, a dual-type task relation graph is constructed, and a heuristic strategy of multi-location transfer time cost is proposed to guide the search direction of this graph, so that the planner can process tasks one by one along the local shortest time-consuming task path, and reduce the path transfer time of the robots. A time-cost heuristic strategy is proposed to allocate the robots, which can balance the task load and shorten the working time. Finally, taking the construction scenario of the lunar scientific research station including lunar resource mining, material transportation, facility construction and other tasks as an example, the planning algorithm is verified by simulation. The results show that this method can generate multi-robot cooperative planning sequences satisfying complex constraints. Compared with the traditional planning method, the proposed method has fewer redundant paths and shorter task time, which can realize the efficient time-sharing reuse of various robots in multiple tasks.