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DL-RRT* algorithm for least dose path Re-planning in dynamic radioactive environments

This paper presents a sampling-based algorithm, DL-RRT*, for minimum dose walk-path re-planning in radioactive environments, expedient for occupational workers in nuclear facilities to avoid unnecessary radiation exposure. The method combines the principle of random tree star (RRT*) and D* Lite, and uses the expansion strength of grid search strategy from D* Lite to quickly find a high-quality initial path to accelerate convergence rate in RRT*. | DL-RRT* algorithm for least dose path Re-planning in dynamic radioactive environments