Research On Location Of Radioactive Source Based On Mobile Robot

While nuclear technology has achieved rapid development on a global scale,it is often accompanied by the occurrence of out-of-control radioactive sources.Nowadays,the problem of locating out-of-control radioactive sources is mainly solved by manual positioning,but this method is less efficient and there is a risk of radiation injury to operators.Using mobile robots combined with radiation detectors and related sensors to locate uncontrolled radioactive sources can not only greatly improve the positioning efficiency,but also protect operators from radiation hazards.This paper focuses on the task of locating uncontrolled radioactive sources in an unknown radiation environment,and proposes a radioactive source locating method based on mobile robots.The related research work is as follows:(1)For the basic theoretical problems of autonomous detection by mobile robots,firstly,using real-time localization and mapping(SLAM)technology to complete the creation of the environment map;then,based on the known environment map,using the AMCL algorithm to complete the autonomous positioning of the robot,and complete the robot’s autonomous navigation through the path planning algorithm mixed with the A* algorithm and the DWA algorithm;finally,based on the environment map,autonomous positioning and autonomous navigation,the robot’s autonomous detection of radiation information is realized.(2)For the detection and estimation of the radioactive distribution of mobile robots,the mobile robot can realize autonomous collection of radiation information and position information from different observation positions through two detection stages in the radiation environment;for the collected relevant information,a recursive Bayesian estimation is proposed.Model,through which the relevant parameters of the radioactive source can be estimated.(3)Aiming at the problem that the recursive Bayesian estimation model cannot solve the infinite integral,a radioactive source localization algorithm based on standard particle filtering is proposed.However,because the system re-sampling in this algorithm solves the problem of sample degradation,it also introduces a new lack of sample diversity.The problem leads to large positioning errors.Therefore,by applying the self-optimized system resampling method to the standard particle filter algorithm,the particle filter is improved to achieve the goal of improving the positioning accuracy of the radioactive source.(4)In order to verify the feasibility and effectiveness of the radioactive source locating method in this paper,simulation experiments,simulation experiments,and physical experiments in a real radiation environment are used for testing.The experimental results show that the mobile robot is equipped with radiation detectors and related sensors to combine Improved particle filter algorithm can complete the locating of a single out-of-control radioactive source.