Radiation and ergonomic-aware A-star algorithm for nuclear decommissioning path planning

This study presents a novel modification of the A* path planning algorithm that integrates ergonomic and radiological constraints to enhance worker safety in nuclear decommissioning environments. The algorithm optimizes paths by incorporating ergonomic scores derived from biomechanical data alongside radiation exposure estimates from simulations. To assess the impact of load carriage, worker performance is analyzed under normal and weighted walking conditions, with a focus on joint biomechanics, including moment, power, angle, and velocity. Results indicate that while cumulative radiation exposure remains relatively stable, weighted walking significantly increases biomechanical strain, elevating the risk of musculoskeletal disorders (MSDs). The proposed dual-cost optimization approach provides a comprehensive framework for balancing radiation exposure and ergonomic stress, offering practical improvements for worker safety and efficiency in hazardous environments.