Abstract
In order to protect people from nuclear radiation, nuclear emergency robots are widely used in radiation environment. Due to the performance limitation of the robot, it cannot pass the area where the radiation dose rate is extremely high or the land slope exceeds a threshold. However, current path planning method of nuclear emergency robot does not consider all these factors, which are inevitable in nuclear emergency cases. Thus, in this paper, a path planning algorithm for nuclear emergency robot is proposed, which considers both radiation and uneven terrain. Firstly, the costmap of radiation is calculated from the radiation field distribution map. The three-dimensional point cloud map is projected into a gray image, and the image gradient is calculated to obtain the costmap of traversability. The combination of two costmaps forms a multi-layer costmap as the input of the path planning algorithm. Then the A* algorithm with the heuristic function of distance, radiation, and slope is proposed to search for the best path. The simulation results show that the proposed method can plan a safe and effective path for the robots according to different requirements.
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Acknowledgement
This work is jointly supported by National Natural Science Foundation of China (U1813224) and National Key R&D program of China (2019YFB1310801).
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Huang, Y., Zhou, Y., Xiong, Z. (2021). Path Planning for Nuclear Emergency Robot in Radiation Environment with Uneven Terrain. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_62
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DOI: https://doi.org/10.1007/978-3-030-89092-6_62
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