Optimizing the Localization of Gamma Radiation Point Sources using a UGV
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F18%3APU128149" target="_blank" >RIV/00216305:26220/18:PU128149 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/8398368/" target="_blank" >https://ieeexplore.ieee.org/document/8398368/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ELEKTRO.2018.8398368" target="_blank" >10.1109/ELEKTRO.2018.8398368</a>
Alternative languages
Result language
angličtina
Original language name
Optimizing the Localization of Gamma Radiation Point Sources using a UGV
Original language description
The paper is concerned with the autonomous robotic measurement of gamma radiation and the localization of its sources. The objective is to find techniques that allow faster localization compared to mapping along parallel lines. To achieve this, an unmanned ground vehicle (UGV) is utilized; the device is equipped with a sensitive dual-probe radiation detection system and a module for precise self-localization and navigation. The suggested solution involves exploring the region of interest along circular trajectories and estimating the sources' parameters, the coordinates in particular. The estimation accuracy is then increased using the Gauss-Newton method. The approach was verified through experiments in real conditions; the achieved result consists in a threefold decrease of the time requirement while the localization accuracy remains comparable to that acquired by the radiation mapping. The benefits of the presented research comprise the qualitative expansion of the radiation protection domain and also the applicability of several utilized algorithms in other fields or activities, including, for example, the autonomous robotic inspection of industrial facilities.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2018 ELEKTRO
ISBN
978-1-5386-4758-5
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1-6
Publisher name
Neuveden
Place of publication
Neuveden
Event location
Mikulov
Event date
May 21, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000468327400129