Journal of Radiation Research and Radiation Processing, Volume. 40, Issue 6, 060601(2022)
Path planning for nuclear radiation environments based on an improved artificial potential field A* algorithm
Figures & Tables(9)
Fig. 1. Environmental modelling: (a) mode of search; (b) raster maps and risk points
Fig. 2. Heuristic function selection of A* algorithm: (a) dose rate selection of adjacent grids; (b) selection of estimated path dose rate
Fig. 4. Comparison with the cited literature algorithm after improving the evaluation function in this paper:(a) comparison of the number of search nodes; (b) total dose comparison (color online)
Fig. 5. Comparison diagram of the algorithm after the introduction of artificial potential field influence:(a) 30×30 map; (b) 50×50 map
Fig. 6. Comparison diagram of algorithm after introducing dynamic coefficient: (a) 30×30 map; (b) 50×50 map
Table 0. [in Chinese]
View tableView in ArticleTable 0. [in Chinese]
Algorithm 1 : Improve A*Input: Obstacle_map, Nuclear_map, Map_size, Start_point, Goal_point, Open_list, Closed_list1 For i←1 to (Map_size)
2 For j←1 to (Map_size)
3 do if Nodes(i,j)≠Obstacle
4 then I(i,j)←artificial_potential_field + Nuclear_radiation_dose
5 end
6 end
7 end
……
8 Openlist = Start_point
9 while Current_node ≠ Goal_point
10 do Min F’(n) ← Cost of surrounding expandable nodes
11 next_nodes ← Min F’(n) corresponding node
12 Closed_list = [Closed_list; next_nodes]
13 Closed_cost = [Closed_cost; Min F’(n)]
14 end
Output: Path, Cumulative nuclear radiation dose, Search nodes
Table 1. Comparison of experimental data of each algorithm
View tableView in ArticleTable 1. Comparison of experimental data of each algorithm
路径编号
Path
number
移动距离 / m
Moving
distance
搜索耗时 / s
Search time
搜索节点数 / Piece
Number of search
nodes
高风险点数 / Point
High risk points
低风险点数 / Point Low risk points 总剂量代价 / μSv
Total dose cost
路径1
Path1
8.47 0.51 784 5 10 77.78 路径2
Path2
路径3
Path3
路径4
Path4
路径5
Path5
路径6
Path6
10.41
9.71
11.24
12.97
14.84
0.58
0.56
0.59
0.69
0.67
1 800
1 576
808
5 456
3 984
1
0
12
7
0
20
0
32
32
0
32.49
37.17
96.66
40.48
46.29
Table 2. Comparison of experimental data of each algorithm
View tableView in ArticleTable 2. Comparison of experimental data of each algorithm
路径编号
Path
number
移动距离 / m
Moving
distance
搜索耗时 / s
The search
time
搜索节点数 / Piece
Number of search
nodes
高风险点数
/ Point
High risk points
低风险点数
/ Point
Low risk points
总剂量代价
/ μSv
Total dose cost
路径1
Path1
8.47 0.51 784 5 10 77.78 路径2
Path2
路径3
Path3
路径4
Path4
路径5
Path5
路径6
Path6
10.41
11.15
11.24
12.97
14.84
0.58
0.54
0.59
0.69
0.63
1 800
1 176
808
5 456
2 936
1
0
12
7
0
20
0
32
32
0
32.49
34.77
96.66
40.48
46.29
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Mengwen QIU, Hua ZHANG, Huaifang ZHOU. Path planning for nuclear radiation environments based on an improved artificial potential field A* algorithm[J]. Journal of Radiation Research and Radiation Processing, 2022, 40(6): 060601
Paper Information
Category: Research Articles
Received: Jun. 3, 2022
Accepted: Sep. 7, 2022
Published Online: Jan. 4, 2023
The Author Email: ZHANG Hua (swustai@163.com)
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