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减少人类受到辐射的危险，但机器人本身也容易受到辐射的伤害。为了使机器人接收到的辐射量最小化，提出了一种有效的非完整约束自主移动机器人路径规划算法，并对算法进行了改进，使其能够在辐射环境中找到安全路径。该算法的目标是找到一个合理的近似最安全的路径，在只能够向前移动的环境中从一个给定的启动配置到一个目标配置，同时避让杂乱无章的障碍物，运动路径是由简单多边形构成的边界。路径规划算法在O（n2logn）时间内（n为离散化地图的顶点数）通过径向扫描线法计算可见性图，并通过Dijkstra算法求最短路径。

Mobile robots are oftenused in hazardous work places such as nuclear power plants. Although the use ofrobots in such environments minimizes the danger of radiation exposure tohumans, the robots themselves are susceptible to damage from radiation. Inorder to minimize the amount of radiation they receive, an efficientpath-planning algorithm was developed for autonomous mobile robots withnonholonomic constraints and modified to find safe paths in radiationenvironments. The objective of the algorithm was to find a reasonably closeapproximation to the safest path from a given start configuration to a goalconfiguration of a vehicle moving only forward in an environment cluttered withobstacles bounded by simple polygons. The path planning algorithm finds theshortest path in O(n2logn) time (n being thenumber of vertices in the discretized map) using a radial sweep line method tocompute the visibility graph and Dijkstra's algorithm to find the shortestpath.

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.         基于辐射环境约束的路径规划

6.         结果与结论

附录A 辐射衰减

附录B 数据结构

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