LAUSR

Abstract This paper develops an approach to provide path navigation with minimum dose for occupational workers in nuclear facilities to increase personnel safety. An algorithm called GB-RRT∗ is proposed by combining the principle of the rapidly exploring random tree star (RRT∗) with the grid searching strategy. The proposed hybridized algorithm compensates for the weaknesses of RRT∗ with the strengths of the grid search strategy, and is applicable in complex environments with obstacles and narrow areas without relying on pre-designed road networks. Simulation results of the proposed algorithm under three radioactive environments with sparse obstacles, area cluttered with obstacles, and narrow areas are compared with those derived from RRT∗. The results show that the GB-RRT∗ performs better than RRT∗ in both convergence and reliability toward achieving the minimum dose path. Hence, we present a more reliable and efficient for providing the minimum dose path for occupational workers especially in complex radioactive environments with clutter obstacles and narrow areas.