کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
8067052 1521081 2018 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Grid-based RRT∗ for minimum dose walking path-planning in complex radioactive environments
موضوعات مرتبط
مهندسی و علوم پایه مهندسی انرژی مهندسی انرژی و فناوری های برق
پیش نمایش صفحه اول مقاله
Grid-based RRT∗ for minimum dose walking path-planning in complex radioactive environments
چکیده انگلیسی
This paper develops an approach to provide path navigation with minimum dose for occupational workers in nuclear facilities to increase personnel safety. An algorithm called GB-RRT∗ is proposed by combining the principle of the rapidly exploring random tree star (RRT∗) with the grid searching strategy. The proposed hybridized algorithm compensates for the weaknesses of RRT∗ with the strengths of the grid search strategy, and is applicable in complex environments with obstacles and narrow areas without relying on pre-designed road networks. Simulation results of the proposed algorithm under three radioactive environments with sparse obstacles, area cluttered with obstacles, and narrow areas are compared with those derived from RRT∗. The results show that the GB-RRT∗ performs better than RRT∗ in both convergence and reliability toward achieving the minimum dose path. Hence, we present a more reliable and efficient for providing the minimum dose path for occupational workers especially in complex radioactive environments with clutter obstacles and narrow areas.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Annals of Nuclear Energy - Volume 115, May 2018, Pages 73-82
نویسندگان
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