Motion planning of a steam generator mobile tube-inspection robot

Biying Xu; Ge Li; Kuan Zhang; Hegao Cai; Jie Zhao; Jizhuang Fan

doi:https://doi.org/10.1016/j.net.2021.10.005

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자료유형: 학술저널

저자정보: Biying Xu (State Key Laboratory of Robotics and System, Harbin Institute of Technology) Ge Li (State Key Laboratory of Robotics and System, Harbin Institute of Technology) Kuan Zhang (State Key Laboratory of Robotics and System, Harbin Institute of Technology) Hegao Cai (State Key Laboratory of Robotics and System, Harbin Institute of Technology) Jie Zhao (State Key Laboratory of Robotics and System, Harbin Institute of Technology) Jizhuang Fan (State Key Laboratory of Robotics and System, Harbin Institute of Technology)

저널정보: 한국원자력학회 Nuclear Engineering and Technology Nuclear Engineering and Technology 제54권 제4호

발행연도: 2022.4

수록면: 1,374 - 1,381 (8page)

DOI: https://doi.org/10.1016/j.net.2021.10.005

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Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factorin 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 trendof NPP robot development. To achieve motion planning, conditional traversal is usually used for baseposition optimization, and then the A* algorithm is used for path planning. However, the proposedapproach requires considerable processing time and has a single expansion during path planning andplan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce thecalculation time and improve the efficiency of motion planning, modifications such as the matrixmethod, 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-typetube arrays and experimenting with Model SG.

#Steam generator mobile tube-inspection robot #Motion planning #Base position #Optimization #Path planning #Comprehensive evaluation index

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