本文为美国佛罗里达大学（作者：ARFATH PASHA）的硕士论文，共102页。

移动机器人通常用于核电站等危险工作场所。尽管在这样的环境中使用机器人可以最大限度地降低人体受到辐射的危险，但机器人本身也容易受到辐射而损害。为了最大限度地减少机器人接收到的辐射量，针对非完整约束的自主移动机器人，提出了一种有效的路径规划算法，并对算法进行了改进，以找到辐射环境下的安全路径。该算法的目标是找到一个相当接近的最安全路径，车辆只从一个给定的启动配置到一个目标配置，在一个由简单多边形界定的杂乱障碍物环境中前进。路径规划利用径向扫描线法计算可视图，并用Dijkstra算法在O(n²logn)时间内求解出最短路径（n为离散化地图中的顶点数）。

Mobile robots are often used in hazardous work places such as nuclear power plants. Although the use of robots in such environments minimizes the danger of radiation exposure to humans, the robots themselves are susceptible to damage from radiation. In order to minimize the amount of radiation they receive, an efficient pathplanning algorithm was developed for autonomous mobile robots with nonholonomic constraints and modified to find safe paths in radiation environments. The objective of the algorithm was to find a reasonably close approximation to the safest path from a given start configuration to a goal configuration of a vehicle moving only forward in an environment cluttered with obstacles bounded by simple polygons. The path planning algorithm finds the shortest path in O(n2logn) time (n being the number of vertices in the discretized map) using a radial sweep line method to compute the visibility graph and Dijkstra's algorithm to find the shortest path.

1 引言与项目背景

2 文献回顾

3 研究目标

4 非完整路径规划算法

5 研究结果与结论

附录A 衰减量

附录B 数据结构 

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