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21 December 2023 Robot-based source-seeking and exploration strategy in an unknown nuclear environment
Wenrui Gao, Huimin Cui, Kuiying Yin, Rumei Li, Wentao Du
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Proceedings Volume 12970, Fourth International Conference on Signal Processing and Computer Science (SPCS 2023); 1297026 (2023) https://doi.org/10.1117/12.3012214
Event: Fourth International Conference on Signal Processing and Computer Science (SPCS 2023), 2023, Guilin, China
Abstract
The unmanned system is always employed in the uncontrolled radiation source accidents, tackling with geometric field mapping, obstacle avoidance exploration and radiation sources localization simultaneously. To balance the multiple subtasks, a novel source seeking and exploration strategy is proposed in this paper. Firstly, the geometric metric map and radioactive topology map are constructed respectively, while the evaluation functions are established to merge above both maps into the hybrid costmap. Additionally, the RRT* structure is introduced into the path planning module, leading to the capabilities of full-map expansion and multi-source exploitation. By combining the costmap with RRT* structure, the topological paths which satisfy source seeking and map exploration can be generated in the cluttered environment. Experimental results verify the effectiveness of the multi-task path planner, taking into account both multisource exploitation and environment exploration in an online manner.
(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.
Citation Download Citation
Wenrui Gao, Huimin Cui, Kuiying Yin, Rumei Li, and Wentao Du "Robot-based source-seeking and exploration strategy in an unknown nuclear environment", Proc. SPIE 12970, Fourth International Conference on Signal Processing and Computer Science (SPCS 2023), 1297026 (21 December 2023); https://doi.org/10.1117/12.3012214
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KEYWORDS
Unmanned systems
Autonomous vehicles
Information theory
Mobile robots
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