Zhang, Kaiqiang;
Pawar, Vijay M;
Rahman, Faiz;
Cryer, Alice;
Sakaue, Tomoki;
Abe, Fumiaki;
Sakamoto, Masaki;
... Skilton, Robert; + view all
(2025)
Experimental Tests of a Motion Planning System Based on Multi-Objective Optimisation for Nuclear Decommissioning Practice Using Long-Reach Systems.
In: Secchi, Cristian and Marconi, Lorenzo, (eds.)
European Robotics Forum 2024 (15th ERF, Volume 2).
(pp. pp. 223-228).
Springer: Cham, Switzerland.
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ERF2024___Motion_Planning_for_Decommissioning.pdf - Accepted Version Access restricted to UCL open access staff until 2 January 2026. Download (11MB) |
Abstract
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.
| Type: | Proceedings paper |
|---|---|
| Title: | Experimental Tests of a Motion Planning System Based on Multi-Objective Optimisation for Nuclear Decommissioning Practice Using Long-Reach Systems |
| Event: | European Robotics Forum: ERF 2024 |
| ISBN-13: | 978-3-031-76427-1 |
| DOI: | 10.1007/978-3-031-76428-8_42 |
| Publisher version: | https://doi.org/10.1007/978-3-031-76428-8_42 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of the Built Environment |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10204147 |
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