Motion planning of a steam generator mobile tube-inspection robot

Biying Xu; Ge Li; Kuan Zhang; Hegao Cai; Jie Zhao; Jizhuang Fan

Nuclear Engineering and Technology (Apr 2022)

Motion planning of a steam generator mobile tube-inspection robot

Biying Xu,
Ge Li,
Kuan Zhang,
Hegao Cai,
Jie Zhao,
Jizhuang Fan

Affiliations

Biying Xu: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
Ge Li: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
Kuan Zhang: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
Hegao Cai: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
Jie Zhao: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China
Jizhuang Fan: Corresponding author.; State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China

Journal volume & issue: Vol. 54, no. 4
pp. 1374 – 1381

Abstract

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Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A∗ algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG.

Published in Nuclear Engineering and Technology

ISSN: 1738-5733 (Print)
Publisher: Elsevier
Country of publisher: Korea, Republic of
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering: Nuclear engineering. Atomic power
Website: http://www.journals.elsevier.com/nuclear-engineering-and-technology

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