Multi-target inspection path planning (MTIPP) of mobile robot (MR) represents a significant area of research in the context of environmental monitoring and routine inspection of nuclear power plants (NPPs). Given the challenges posed by complex radioactive indoor environments, characterized by the presence of numerous radioactive sources and dense obstacles, a bi-level multi-objective programming framework is proposed to model the MTIPP problem. To navigate this model effectively, a novel bi-level hybrid algorithm named ACO-GA-A* that integrates improved ant colony optimization (IACO), genetic...
