Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A∗ algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG.

在核辐射的影响下，蒸汽发生器（SG）的可靠性是影响核电站（NPP）反应堆效率和安全的重要因素。远程操纵SG移动式管检机器人对SG传热管进行检测的运动规划是核电厂机器人发展的主流趋势。为了实现运动规划，通常使用条件遍历进行基位置优化，然后使用A*算法进行路径规划。然而，所提出的方法需要相当多的处理时间，并且在路径规划过程中具有单一的扩展和多转弯的规划路径，这降低了机器人的工作速度。因此，为了减少计算时间和提高运动规划的效率，进行了矩阵法、改进父节点、转向成本等修改，本研究提出了改进的扩展节点。我们还提出了一个综合评价指标来评价改进算法的性能。我们通过在具有方形管阵列的管板上进行规划并使用模型 SG 进行试验，验证了所提出方法的效率。