| dc.description.abstract | The development of an autonomous robotic platform for generating radiation maps
is presented. An integrated autonomous exploration algorithm, Particle Swarm Optimization
algorithm, and the ability to accurately localize and map multiple radiation
sources in both indoor and outdoor environments using actual sources are features of
the system presented.
Radiation maps provide an easy to understand view of the invisible hazards that
radioactive sources pose. Previous methods of producing radiation maps either required
prior knowledge of the physical dimensions of the mapping area or needed the
intervention of a human operator. The method presented here improves on previous
methods in that it does not require prior knowledge of the area or the intervention of
an operator. The implementation consists of three main components: an exploration
algorithm, a navigation system, and a source localization system. The exploration
system guides the robot through the area instructing it to take radiation measurements
as necessary. The navigation system provides accurate localization to maintain
the accuracy of the measurements. The source localization system then uses the
measurements and a radiation model to produce an estimate of the source positions
and intensities. A live intensity heatmap displays preliminary information of the surroundings
while the robot is exploring the area, providing useful information from the
start of its operation. The intensity heatmap is updated while the robot explores,
providing a more detailed view as the robot progresses through an area.
The technical details of the implementation and the experimental results of the radiation
mapping capabilities of a fully Autonomous Radiation Mapping Robot (ARMR)
are presented in detail here. Multiple scenarios are tested, both in an outdoor and
indoor environment. In the scenarios an unknown configuration of Cesium 137 sources
is explored and mapped by the ARMR. The results demonstrate the effectiveness of
the ARMR as a tool for mapping radiation sources in unknown environments. Such
a system could be used for monitoring nuclear facilities or deployed in terrorist or
radiation accident scenarios. | en |
