Experimental Tests of a Motion Planning System Based on Multi-Objective Optimisation for Nuclear Decommissioning Practice Using Long-Reach Systems
摘要
Motion planning for long-reach robotic systems is a complicated laborious task reliant on operators with specialist expertise in nuclear decommissioning practice. Thus, a motion planning system is developed in this work, motivated to improve the efficiency of planning motions in such safety-critical environments. The system can assist operations by generating viable routing solutions for long-reach robots with high degrees of freedom in nuclear decommissioning operations using multi-objective optimisation. It was experimentally tested using a hyper-redundant manipulator, which was for remote maintenance of an experimental fusion-energy tokamak device. The results demonstrate the feasibility of applying optimisation-based planning to complex nuclear tasks, overcoming current excessive reliance on manual methods to improve operational efficiency and safety assurance in decommissioning.