Author:
Liu Xin,Cheng Lan,Yang Yapeng,Yan Gaowei,Xu Xinying,Zhang Zhe
Abstract
Nuclear safety has always been a focal point in the field of nuclear applications. Mobile robots carrying specific sensors for nuclear-radiation detection have become an alternative to manual detection. This work presents an autonomous α/β radiation mapping framework, using a mobile robot carrying a light detection and ranging (LiDAR) and a nuclear-radiation-detection sensor. The method employs simultaneous localization and mapping (SLAM) techniques and radiation-detection sensors. Cartographer is adopted as a demonstration example to map the unknown environment. Radiation data are obtained through the radiation detection sensor and projected onto the environment map after coordinate alignment. The color-coded radiation map is shown on the environment map according to the dose rate. The simulation and real-environment experiments in a robot-operating system (ROS) validate the effectiveness of the proposed method in different radiation scenarios for both indoor and outdoor environments.
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
Cited by
3 articles.
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