Path Planning Research On Environmental Radioactivity Detection Based On Rotor Aircraft

With the development of science and technology,the application of nuclear technology is becoming more and more extensive.However,once a nuclear leakage accident or loss of radioactive source incident occurs,it would bring great harm to the society.Therefore,the detection of radioactivity in the environment is an important work.In recent years,due to the characteristics of hovering and high flexibility,rotor aircraft has developed rapidly.Aiming at the demand of detecting radioactivity and searching for radioactive source in unknown environment,this paper designs a rotor aircraft which can be used for radioactivity detection,and studies the path planning method for detecting radioactivity and searching for out of control radioactive source in the outdoor environment.First of all,this paper proposes the whole scheme of the radioactivity detection aircraft system,uses the rotor aircraft as the detection platform,adopts the RG1000 radiant dosimeter as the detection module.The image transmission unit is composed by FPV camera and 5.8G transmission module.According to the flight principle and kinematic model of the aircraft,this paper designs the flight control system based on STM32F427 and u C/OS-III system.Secondly,aiming at the problem of radioactivity detection in unknown environment,this paper studies the path planning method of full coverage.By optimizing the reciprocating algorithm,adding the constraints in the A* algorithm,we combines the two algorithms with the breadth-first search algorithm to form a combined full coverage algorithm,which realizes the full coverage detection of the whole area.Then,the intensity of gamma ray generated by the radioactive source decreases gradually as the distance increases.According to this feature,the cross location method is used to determine the location of the radioactive source,and combined with the full coverage algorithm,a search method for the radioactive source in the unknown environment is formed.Finally,the combined full coverage algorithm and the radioactive source search method are tested.The results show that the method can effectively detect the radioactivity of detection area and realize the search of the radioactive area.