Enhanced bidirectional rapidly exploring random tree star (Bi-RRT*) algorithm for optimal pathfinding in complex environments with radiation dose minimization International Symposium on Symbiotic Nuclear Power (ISSNP2024)

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

编号：85 访问权限：私有更新：2024-09-14 19:03:34 浏览：135次口头报告

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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 not only enhances worker safety by minimizing exposure to hazardous radiation but also 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* in terms of dose minimization and path planning efficiency.
The findings demonstrate that the enhanced Bi-RRT* algorithm achieves superior performance in 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.

关键词

Path planning algorithm; Radiation; Decommissioning; Nuclear; High-risk environment

报告人

Justina Onyinyechukwu Adibeli

Principal Scientific Harbin Engineering University；Man-Power Training and Capacity Development Directorate, Nigeria Atomic Energy Commission, Abuja, Nigeria