Abstract
This paper focuses on multi-robot path planning for lunar base construction, which includes tasks such as exploration, resource acquisition, 3D printing, transportation, and quality inspection. Based on Linear Temporal Logic (LTL) formula and Petri nets, the path planning problem of multiple robots accomplishing those complex construction tasks is studied. Firstly, we model the lunar base environment using Petri nets and apply LTL formulas to specify construction tasks; next, we transform the LTL formula into a Büchi automaton to generate valid task sequences. Finally, after combining the satisfying sequences with the constructed Petri net model, a mixed integer linear programming problem can be established and solved to obtain the motion strategy of multiple robots. Simulation results show that the proposed method completes path planning for 6 robots in 3.31864 seconds, with no collision during task execution. Ground demonstration based on the ROS system verifies the feasibility of the method, where robots successfully complete specified tasks with accurate path following. This work provides a practical and efficient solution for multi-robot cooperative operations in lunar base construction scenarios.