The intensive application of radioactivesources in various fields has led to a rise in incidents involving their loss. Focusing on the rapid and safe detection of radiation environments and the localization of radioa...
详细信息
ISBN:
(纸本)9798350352634;9798350352627
The intensive application of radioactivesources in various fields has led to a rise in incidents involving their loss. Focusing on the rapid and safe detection of radiation environments and the localization of radioactivesources, this paper integrates the design of detection robots, radiation localization techniques, and path tracking to create a radioactivesource detection system based on autonomous mobile robots. The design of the detection robot considers the unique challenges posed by radiation environments. In terms of localization, an adaptive radioactive source localization algorithm based on the Bayesian model, incorporating angle of arrival (AOA), is proposed to estimate the location of radioactivesources. Path planning is optimized using the Pure Pursuit algorithm to enhance tracking accuracy. Finally, on a mobile robot platform, an unknown radioactivesource search experiment is conducted, validating the effectiveness of the system and vigorously advancing the field of radioactivesource detection.
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