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Related Experiment Video

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Autonomous Search of Radioactive Sources through Mobile Robots.

Jianwen Huo1,2, Manlu Liu1, Konstantin A Neusypin2

  • 1Robot Technology Used for Special Environment Key Laboratory of Sichuan Province, Southwest University of Science and Technology, Mianyang 621010, China.

Sensors (Basel, Switzerland)
|June 25, 2020
PubMed
Summary

This study introduces a mobile robot method for autonomous radioactivity detection using a partially observable Markov decision process (POMDP). The approach effectively guides robots to locate radioactive sources, enhancing nuclear safety and monitoring.

Keywords:
POMDPautonomous searchmeasurement error modelmobile robotradioactive sources

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Area of Science:

  • Robotics
  • Nuclear Safety
  • Environmental Monitoring

Background:

  • Autonomous radioactivity detection is crucial for nuclear and biological safety.
  • Existing methods require improvement for efficiency and accuracy in locating unknown sources.

Purpose of the Study:

  • To propose and validate a novel method for autonomous radioactive source searching using mobile robots.
  • To enhance the capabilities of robots in monitoring and disposal of nuclear materials.

Main Methods:

  • Utilized a partially observable Markov decision process (POMDP) for autonomous search based on radiation measurements.
  • Analyzed factors influencing radiation measurement accuracy during robot movement.
  • Employed Bayesian framework for radioactive source parameter estimation and a reward strategy for navigation.

Main Results:

  • Simulations and real-world experiments with a TurtleBot robot demonstrated the method's effectiveness in locating Cs-137.
  • Identified key factors affecting search performance, including robot velocity and positioning accuracy.
  • Validated the autonomous navigation to the radiation source position.

Conclusions:

  • The proposed POMDP-based mobile robot method is effective for autonomous radioactive source detection.
  • The method has potential applications in locating lost radioactive sources and monitoring leaks in industrial facilities.
  • Robot movement parameters significantly impact the success of autonomous radioactive source searches.