Environment modeling and path planning for a semi-autonomous manipulator system for decontamination and release measurement

This paper will present algorithms necessary for a system that allows for semi-autonomous decontamination and radiation measurement / release measurement of contaminated surfaces as found during dismantling of nuclear power plants. An innovative system for surface ablation and measurement tasks is currently being developed, which comprises a transport system and a manipulator equipped with vacuum suction units to move along walls. The necessary steps for acquiring and processing an environment model as well as path planning based on the kinematic constraints of the manipulator are discussed in detail. The algorithms are integrated into a software framework that allows for seamless switching between simulation and reality for real-time monitoring and modification of the planning results.