Probabilistic roadmap method for path-planning in radioactive environment of nuclear facilities

摘要

In order to reduce the radiation exposure of the staff in radioactive environment of nuclear facilities, the probabilistic roadmap method is applied to optimize the walking path, which is on the basis of the map model, collision detection technology and dose calculation method. The proposed method can make a route in a very short time. The advantages of the path-planning method are reflected in two simulation experiments. From the first experiment, you can see the necessity and significance of path-planning in radioactive environment. To be specific, the cumulative dose is reduced greatly. In the other experiment, the computing speed of the proposed method is striking. Compared with the traditional A* algorithm, the reaction of this proposed method is almost instantaneous. Therefore, the proposed method has a good effect on path-planning in the radioactive environment of nuclear facilities.