Motion Planning of Robotic Systems for Applications in Nuclear Facilities Clean Up

摘要

Robotic systems are often used in the clean up of nuclear facilities due to the uncertainrnenvironments and high levels of radiation. The wide variety of tasks involved in nuclear facilities clean up willrnrequire that systems constantly be reprogrammed as tasks are added or changed. This creates the need for arngeneralized motion planning software capable of being applied to a wide variety of systems and tasks. Thisrnpaper describes the basics of motion planning and the development of motion planning software. The motionrnplanning software is then applied to a demonstrative Deactivation and Decommissioning (D&D) task tornillustrate enhanced performance.