摘要详情

ID / 提交时间

75 / 2024-07-15 11:51:31

标题

Enhanced bidirectional rapidly exploring random tree star (Bi-RRT*) algorithm for optimal pathfinding in complex environments with radiation dose minimization

关键字

Nuclear Decommissioning; Path planning; Bidirectional RRT*; High-risk environment

主题及专题

TRACK 4: MODELING & SIMULATION

状态

终稿

作者

Justina Onyinyechukwu Adibeli / Harbin Engineering University

Yongkuo Liu / Harbin Engineering University

Nan Chao / Harbin nEngineering University

Ngbede Junior Awodi / Harbin Engineering University

Amos Kipkosegei Chepkwony / Harbin Engineering University

摘要

This paper presents a novel enhanced bidirectional rapidly exploring random tree star (Bi-RRT*) path planning algorithm designed to optimize navigation and minimize radiation exposure for workers during nuclear decommissioning. Unlike traditional RRT*, the enhanced Bi-RRT* algorithm incorporates improvements to the choosing parents and rewiring operations, prioritizing paths with reduced radiation dose. This innovative approach enhances worker safety by minimizing exposure to hazardous radiation and maintains high efficiency and accuracy in complex environments. The enhanced Bi-RRT* algorithm was evaluated across four distinct scenarios and the performance metrics were analyzed and compared with the traditional RRT*. Results indicate that the enhanced Bi-RRT* algorithm consistently outperforms the RRT* regarding dose minimization and path planning efficiency.

The findings demonstrate that the enhanced Bi-RRT* algorithm performs better navigation tasks within complex radioactive environments, ensuring a safer working environment for decommissioning workers. Additionally, the algorithm’s adaptability makes it applicable to other hazardous settings, providing a robust solution for minimizing radiation-related risks and enhancing overall safety. This study highlights the significant improvements in accuracy, efficiency, and effectiveness of the enhanced Bi-RRT* algorithm compared to the RRT*, marking a substantial improvement in path planning for hazardous environments