Path Planning Optimization Method Based on Genetic Algorithm for Mapping Toxic Environment

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 nu...

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Bibliographic Details
Published inBioinspired Optimization Methods and Their Applications Vol. 10835; pp. 223 - 233
Main Authors Piardi, Luis, Lima, José, Pereira, Ana I., Costa, Paulo
Format Book Chapter
LanguageEnglish
Published Switzerland Springer International Publishing AG 2018
Springer International Publishing
SeriesLecture Notes in Computer Science
Subjects
Genetic Algorithm
Mobile robot
Optimization
Path planning
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Summary: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.
ISBN:3319916408
9783319916408
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-319-91641-5_19