Multi-Objective A* Algorithm and Its Path Smoothing Optimization in Radioactive Environment

The traditional A* algorithm had problems such as low search efficiency and piecewise linear paths in path planning in radioactive environments. This paper proposed an improved multi-objective A* algorithm, which taken the cumulative dose from the start point to the current node as the actual cost G(n), introduced the distance from the current node to the end point as the heuristic function H(n), and considered the number of turning points as the additional cost C(n). The triple optimization goals of low cumulative dose, few turning points, and high search efficiency are achieved. Then the uniform subdivision algorithm was used to smooth the initial path. The results show that the improved A* algorithm can reduce the average path dose by 25.4% and the number of execution nodes in the path search by 24.4%, which effectively verifies the dual advantages of the algorithm in radiation protection and path planning efficiency.