Motion planning of a steam generator mobile tube-inspection robot

被引：7

作者：

Xu, Biying ^{[1
]}

Li, Ge ^{[1
]}

Zhang, Kuan ^{[1
]}

Cai, Hegao ^{[1
]}

Zhao, Jie ^{[1
]}

Fan, Jizhuang ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China

来源：

NUCLEAR ENGINEERING AND TECHNOLOGY | 2022年 / 54卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Steam generator mobile tube-inspection robot; Motion planning; Base position; Optimization; Path planning; Comprehensive evaluation index; A-ASTERISK ALGORITHM;

D O I：

10.1016/j.net.2021.10.005

中图分类号：

TL [原子能技术]; O571 [原子核物理学];

学科分类号：

0827 ; 082701 ;

摘要：

Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A* algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG. (C) 2021 Korean Nuclear Society, Published by Elsevier Korea LLC.

引用

页码：1374 / 1381

页数：8

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