A Petri nets-based modeling method for multi robot path planning

Abstract

The construction of lunar bases is one of the core enabling technologies in current lunar exploration and development plans of various countries. However, to eliminate the constraints of high transportation costs and limited manned space technology, a new research plan is to employ multi robot teams to build lunar bases. The key to this solution is how to achieve path planning for complex tasks for multiple robots. Therefore, this article takes the exploration and collection area, lunar soil collection, and lunar soil transportation in the lunar base construction scene as complex task inputs, and studies a multi robot path planning modeling method based on Petri net model. Firstly, a Petri net model for multi robot motion was constructed. Meanwhile, linear temporal logic(LTL) language was used to describe the related tasks of lunar base construction. Finally, simulation validation was conducted in Matlab software and compared with the modeling method using switching systems. The results show that the total modeling time required for using the Petri net model is reduced by two orders of magnitude compared to the modeling time for a single task switching system model, indicating that the established Petri net multi robot model has advantages such as avoiding dimension explosion and computational efficiency.