Multi-objective path planning for mobile robot in nuclear accident environment based on improved ant colony optimization with modified A∗

• DOI: 10.1016/j.net.2023.02.005
• Publication Date: 2023-02-09T16:51:05Z
• Authors: De Zhang; Run Luo; Ye-bo Yin; Shu-liang Zou
• Keywords: Ant colony optimization; Mobile robot; TK9001-9401; 0211 other engineering and technologies; Nuclear engineering. Atomic power; Multi-objective path planning; A∗; 02 engineering and technology; Radioactive environment

This paper presents a hybrid algorithm to solve the multi-objective path planning (MOPP) problem for mobile robots in static nuclear accident environment. The proposed mimics real site by modeling environment with two-layer cost grid map based on geometric and Monte Carlo calculations. consists of two steps. first step optimizes hybridization improved ant colony optimization algorithm-modified A∗ (IACO-A∗) that minimizes length, cumulative radiation dose energy consumption. second module is high rate avoidance strategy integrated IACO-A∗ algorithm, which will work when sense lethal rate, avoiding radioactive sources levels. Simulations have been performed under environments different complexity evaluate efficiency results show has better quality than ACO IACO. In addition, study comparing recent (PP) methods three scenarios performed. simulation obviously superior terms stability minimization total MOPP.