An improved A^* algorithm-guided path-planning method for radioactive environment

People working in a radiation environment are at risk of radiation exposure. To minimize radiation hazards, an improved A^* algorithm-guided path-planning method for radioactive environments is proposed. The method considers the radiation dose rate, obstacles, and shortest path constraint conditions and uses the cumulative dose as the actual cost and the estimated dose as the estimated cost to determine the optimal path. In the same radiation environment, the path length and total dose cost obtained by the improved A^* algorithm are 29.3 m and 1.0 mSv, respectively, whereas that obtained via the traditional A^* algorithm are 24.1 m and 28.8 mSv, respectively. Simulation results demonstrate that the path guided by the improved A^* algorithm is safer and more reliable, and it can be applied to path planning in a nuclear radiation environment. (authors)