A simulation framework for autonomous lunar construction work

2025-05-28

AI Summary

To address the lack of high-fidelity, multi-robot collaborative simulation platforms for autonomous lunar construction, this paper introduces the first full-stack simulation framework tailored for lunar surface operations. Methodologically, it integrates physics-based multibody dynamics, deformable terrain modeling, and real-time vehicle–soil interaction; employs a behavior-tree-driven, modular hierarchical autonomy architecture to decouple high-level task planning from low-level motion control; and implements closed-loop excavation control via inverse kinematics and trajectory tracking. Innovatively, it unifies ROS2 middleware with photorealistic soil flow simulation. The framework is end-to-end validated in two representative lunar construction scenarios, enabling precise quantification of task timing and energy consumption. It establishes a reproducible digital twin benchmark for designing unmanned construction systems, evaluating autonomy algorithms, and guiding engineering optimization.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Search and Optimization: Sampling/Simulation-based Search
• Planning, Routing, and Scheduling: Replanning and Plan Repair

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applications
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Web Mining and Content Analysis: Web data generation and simulation

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.

Problem

• Simulating autonomous lunar construction with multiple machines
• Modeling construction scenarios and analyzing time-energy efficiency
• Integrating physics-based terrain dynamics and modular behavior control

Innovation

• Physics-based models for dynamics and terrain
• Behavior tree manages logic and errors
• ROS2 connects decision and control layers