期望核辐射剂量下移动机器人的路径规划  

Path planning of mobile robot under expected radiation dose

作　　者：赵恒柱 杨明翰[1] 邓多成 汪建业[1] 杨子辉[1] ZHAO Hengzhu;YANG Minghan;DENG Duocheng;WANG Jianye;YANG Zihui(Hefei Institutes of Physical Science,Chinese Academy of Sciences,Hefei 230031,China;University of Science and Technology of China,Hefei 230027,China)

机构地区：[1]中国科学院合肥物质科学研究院,合肥230031 [2]中国科学技术大学,合肥230027

出　　处：《辐射研究与辐射工艺学报》2021年第5期75-82,共8页Journal of Radiation Research and Radiation Processing

基　　金：安徽省自然科学基金项目(2008085MA23)资助。

摘　　要：为解决核辐射环境中机器人移动路径最优问题,我们提出一种改进平滑A*算法,在满足机器人辐射防护要求的同时,提升路径平滑性。该算法综合考虑核辐射场的剂量率、障碍物、路径长度和拐点数等因素,以吸收剂量为代价,通过引入障碍物加权优化和平滑优化,极大地提高了搜索效率和路径质量。仿真实验初步表明:与传统A*算法相比,在无障碍物和有障碍物场景下,未引入障碍物加权优化和平滑优化的改进A*算法生成的路径总剂量代价减少比例均大于45%;引入障碍物加权优化和平滑优化后,搜索效率提高11.8%,平滑度提高52.9%,所提算法基本满足设计要求。To solve the problem concerning the optimal path of robots in nuclear radiation environments,we propose herein an improved smooth A*algorithm to improve the smoothness of the path while satisfying the robot radiation protection requirements.This algorithm comprehensively considers factors,such as the dose rate of the nuclear radiation field,obstacles,path length,and number of inflection points,and the cost of absorbed dose,by introducing obstacle weighting and smoothing optimization;this significantly improves the search efficiency and path quality.A simulation experiment initially shows that when compared with the traditional A*algorithm,the improved A*algorithm without obstacle weighting and smoothing optimization reduces the total dose cost of the path generated by more than 45%under the obstacle-free and obstacle scenes.After introduction of obstacle weighting and smoothing optimization,the search efficiency is increased by 11.8%,and the smoothness is increased by 52.9%.Therefore,the proposed algorithm meets the design requirements.

关 键 词：核辐射环境 移动机器人 路径规划 平滑A*算法 障碍物加权 

分 类 号：TL72[核科学技术—辐射防护及环境保护] TL77