Whoever wins at Kingsholm Stadium will then face the seventh-placed French Top 14 side, with victory in that showdown guaranteeing a spot in Europe's top-tier for 2015/16.
Connacht lost 14-7 against Gloucester earlier this season in the Challenge Cup and 32-year-old Muldoon is hoping that experience can give the GUINNESS PRO12 side the edge this time round.
"It is obviously going to be a big challenge," said Muldoon. "We were over there a couple of weeks ago and we lost 14-7 in a tight affair so in terms of familiarity and being there and doing that, it's good for us.
"I don't think we have anything to fear and the pressure will all be on them so it's a nice opportunity for us to go over there and maybe take a scalp.
"This will be the fourth time I've played them and every game has been very, very tight - it has always been one score in it - so hopefully we can do the business this time round.
"Some of the lads had never been over there before and there will be a little bit of familiarity this time round. It should be a good battle.
"It adds another game to the end of the season but our goal this year was to get into the Champions Cup and we're still in with a chance."
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Guinness PRO12 Connacht News
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