构建月球施工模拟框架，支持多智能体协同与实时物理交互。
A simulation framework for autonomous lunar construction work
- 基于物理引擎建模机械与月壤动态交互，实现实时力反馈。
- 通过行为树管理复杂任务流程，实现高阶决策与低阶控制分离。
- 验证于月面挖土与运输场景，支持自主机械协同作业评估。
我们提出一个面向月球施工的多智能体自主机械仿真框架。该框架支持施工场景与自主方案建模、仿真执行及施工全过程的时间与能耗分析。仿真基于接触多体动力学与可变形地形的物理模型，包含车辆-土壤相互作用力与实时土体流动。行为树用于管理操作逻辑与异常处理，以模块化层次结构实现复杂行为。高层决策与底层控制通过ROS2解耦。挖掘动作由逆运动学与跟踪控制器实现。在涉及履带式挖掘机与自控翻斗车的两个月面施工场景中进行了测试与演示。
原文摘要 · Abstract (English)
We present a simulation framework for lunar construction work involving multiple autonomous machines. The framework supports modelling of construction scenarios and autonomy solutions, execution of the scenarios in simulation, and analysis of work time and energy consumption throughout the construction project. The simulations are based on physics-based models for contacting multibody dynamics and deformable terrain, including vehicle-soil interaction forces and soil flow in real time. A behaviour tree manages the operational logic and error handling, which enables the representation of complex behaviours through a discrete set of simpler tasks in a modular hierarchical structure. High-level decision-making is separated from lower-level control algorithms, with the two connected via ROS2. Excavation movements are controlled through inverse kinematics and tracking controllers. The framework is tested and demonstrated on two different lunar construction scenarios that involve an excavator and dump truck with actively controlled articulated crawlers.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。