Path planning optimization method based on genetic algorithm for mapping toxic environment

Piardi, Luis; Lima, José; Pereira, Ana I.; Costa, Paulo Gomes da

http://hdl.handle.net/10198/21576

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Authors

Piardi, Luis

Lima, José

Pereira, Ana I.

Costa, Paulo Gomes da

Abstract(s)

The ionizing radiation is used in the nuclear medicine field during the execution of diagnosis exams. The administration of nuclear radio pharmaceutical components to the patient contaminates the environment. The main contribution of this work is to propose a path planning method for scanning the nuclear contaminated environment with a mobile robot optimizing the traveled distance. The Genetic Algorithm methodology is proposed and compared with other approaches and the final solution is validated in simulated and real environment in order to achieve a closer approximation to reality.

Keywords

Genetic Algorithm Path planning Mobile robot Optimization

URI

http://hdl.handle.net/10198/21576

Citation

Piardi, Luis; Lima, José; Pereira, Ana I.; Costa, Paulo (2018). Path planning optimization method based on genetic algorithm for mapping toxic environment. In Korošec P., Melab N., Talbi EG. (eds) Bioinspired Optimization Methods and Their Applications. BIOMA 2018. p. 223-233. ISBN 978-3-319-91641-5