时间代价启发式多月基装备协同任务规划方法

Translated title of the contribution: Time-cost Heuristic Planning Method for Multi-robot Cooperative Lunar Mission

Yuting Zhao, Rui Xu, Dengyun Yu, Shengying Zhu, Zhaoyu Li*, Zhijun Zhao, Bo Pan

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

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.

Translated title of the contributionTime-cost Heuristic Planning Method for Multi-robot Cooperative Lunar Mission
Original languageChinese (Traditional)
Pages (from-to)1277-1290
Number of pages14
JournalYuhang Xuebao/Journal of Astronautics
Volume43
Issue number10
DOIs
Publication statusPublished - Oct 2022

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