时间代价启发式多月基装备协同任务规划方法

针对月球科研站构建中优化整体任务用时的需求，提出时间代价启发式多月基装备协同任务规划方法。面向月球科研站构建过程中的原位和路径任务，构建双类型任务关系图，并提出多位置转移时间代价启发式策略引导此图的搜索方向，使规划器沿局部最短耗时任务路径逐个处理任务，降低装备路径转移的时间代价；提出时间代价启发式装备选择策略，从而均衡月基装备任务负载，缩短装备工作时长。最后，以包含资源开采、物料运输、设施建设等任务的月球科研站构建场景为例，对规划算法进行仿真验证。结果表明，此算法能够生成满足复杂约束的多装备协同规划序列。与传统规划方法相比，本文方法得到的月基装备任务序列冗余路径少、任务用时短，可实现多装备在多任务中的高效分时复用。

Time cost Heuristic Planning Method for Multi robot Cooperative Lunar Mission

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.