Autonomous Search of Radioactive Sources through Mobile Robots.

ABSTRACT: The research of robotic autonomous radioactivity detection or radioactive source search plays an important role in the monitoring and disposal of nuclear safety and biological safety. In this paper, a method for autonomously searching for radioactive sources through mobile robots was proposed. In the method, by using a partially observable Markov decision process (POMDP), the search of autonomous unknown radioactive sources was realized according to a series of radiation information measured by mobile robot. First, the factors affecting the accuracy of radiation measurement during the robot's movement were analyzed. Based on these factors, the behavior set of POMDP was designed. Secondly, the parameters of the radioactive source were estimated in the Bayesian framework. In addition, throug

SUBMITTER: Huo J 

PROVIDER: S-EPMC7349192 | biostudies-literature | 2020 Jun

REPOSITORIES: biostudies-literature