Development of Autonomous Radiation Mapping Robot

被引：27

作者：

Zakaria, Abd Hafiz ^{[1
]}

Mustafah, Yasir M. ^{[1
]}

Abdullah, Jaafar ^{[2
]}

Khair, Nahrul ^{[1
]}

Abdullah, Taufiq ^{[1
]}

机构：

[1] Int Islamic Univ Malaysia, Kulliyah Engn, Dept Mechatron Engn, POB 10, Kuala Lumpur 50728, Malaysia

[2] Agensi Nuklear Malaysia, MOSTI, Dept Ind Technol, Kajang 43000, Selangor, Malaysia

来源：

2016 IEEE INTERNATIONAL SYMPOSIUM ON ROBOTICS AND INTELLIGENT SENSORS (IRIS 2016) | 2017年 / 105卷

关键词：

Autonomous; Mobile Robot; Radiation Mapping; Geiger Muller sensor;

D O I：

10.1016/j.procs.2017.01.203

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper discusses the development of a spatial radiation map by an autonomous mobile robot that is equipped with Geiger Muller sensor. Mapping of gamma radiation autonomously using robot as agents will help to prevent harm to human especially when radiation related disaster occur. Hence, we intend to develop a gamma radiation mapping system that reads and process location data of a mobile robot with encoder as well as the radiation data transmitted by the Geiger Muller sensor on the mobile robot. A grid based algorithm was develop to build the radiation map. The system was then tested under several conditions. The results of the spatial distribution map with respect to respective waypoints were discussed at the end of this paper. (C) 2017 The Authors. Published by Elsevier B.V.

引用

页码：81 / 86

页数：6

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