A simulation framework for autonomous lunar construction work

TL;DR

This paper introduces a physics-based simulation framework for autonomous lunar construction, enabling scenario modeling, execution, and analysis of work time and energy consumption for multiple autonomous machines.

Contribution

It presents a modular, hierarchical simulation framework integrating physics models, behavior trees, and ROS2 for lunar construction tasks, which is novel in its comprehensive approach.

Findings

Successfully simulated lunar construction scenarios with excavator and dump truck.

Demonstrated the framework's ability to analyze work time and energy consumption.

Validated the simulation accuracy with real-time physics models.

Abstract

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.