"Dose Aware RRT* Path Planning Algorithm for UUV Inside Nuclear Spent Fuel and Reactor Pool"
收藏DataCite Commons2026-02-25 更新2026-05-03 收录
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https://ieee-dataport.org/documents/dose-aware-rrt-path-planning-algorithm-uuv-inside-nuclear-spent-fuel-and-reactor-pool
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资源简介：
"This work presents a dose- and temperature-aware autonomous path planning framework for unmanned underwater vehicles operating within nuclear reactor and spent fuel pools. High-fidelity radiation and thermal fields are generated using Monte Carlo simulations in OpenMC and exported as three-dimensional voxelized datasets. These fields are transformed into point-cloud hazard maps within a ROS2 environment for visualization and navigation. A customized RRT* planning algorithm enables threshold-constrained trajectory generation, ensuring safe traversal while strictly avoiding hazardous regions. The integrated framework functions as a digital twin for nuclear inspection environments, allowing intelligent, risk-aware robotic navigation and supporting the development of autonomous underwater systems for safe monitoring, inspection, and intervention in radiation-intensive nuclear facilities."
提供机构：
IEEE DataPort
创建时间：
2026-02-25
