A radiation avoiding algorithm of path optimization for radiation protection of workers and robots

摘要

In this paper, we propose a radiation avoiding algorithm of path optimization, aiming to provide a new technical support for radiation protection to professional personnel and robots engage in radiation works in limited and unknown environment. Based on Beetle Antennae Search (BAS) algorithm, radiation perceiving motion model and BAS-based radiation-avoiding algorithm are designed. In view of shortcomings of BAS for radiation avoiding, an improved radiation perceiving motion model and a local perceiving and target-attractive radiation avoiding path optimization algorithm are designed. The proposed algorithms have high computational efficiency and simple process. Besides, a graphical simulation program of the proposed algorithm is established. Comparison results of computer simulation prove effectiveness and feasibility of the proposed algorithms. Experimental results obtained in a simulated environment show that the proposed algorithm could be useful to meet the challenges of radiation avoiding applications that can be described as optimization problems.

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