Path Planning Based on ACO for Mobile Robot in Unstructured Space of Nuclear Power Plant

The application of nuclear power robots to achieve daily inspection of nuclear power plants can effectively improve the efficiency and safety of inspection. In this paper, the path planning of mobile robot in unstructured space environment of nuclear power plant is studied. Firstly, according to the layout of nuclear facilities such as pressure vessels inside nuclear power plants, we constructed the robot inspection environment containing obstacles by raster processing. Then, the obstacleavoidance path planning algorithm based on ACO is carried out to ensure the completion of inspection tasks. Finally, the simulation results verify that the path planning algorithm based on ACO can effectively ensure the completion of inspection task by mobile robot in different unstructured space of nuclear power plant.