An automated heterogeneous robotic system for radiation surveys: Design and field testing

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F21%3APU138749" target="_blank" >RIV/00216305:26620/21:PU138749 - isvavai.cz</a>

Výsledek na webu

<a href="https://onlinelibrary.wiley.com/doi/10.1002/rob.22010" target="_blank" >https://onlinelibrary.wiley.com/doi/10.1002/rob.22010</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1002/rob.22010" target="_blank" >10.1002/rob.22010</a>

Jazyk výsledku

angličtina

Název v původním jazyce

An automated heterogeneous robotic system for radiation surveys: Design and field testing

Popis výsledku v původním jazyce

During missions involving radiation exposure, unmanned robotic platforms may embody a valuable tool, especially thanks to their capability of replacing human operators in certain tasks to eliminate the health risks associated with such an environment. Moreover, rapid development of the technology allows us to increase the automation rate, making the human operator generally less important within the entire process. This article presents a multirobotic system designed for highly automated radiation mapping and source localization. Our approach includes a three-phase procedure comprising sequential deployment of two diverse platforms, namely, an unmanned aircraft system (UAS) and an unmanned ground vehicle (UGV), to perform aerial photogrammetry, aerial radiation mapping, and terrestrial radiation mapping. The central idea is to produce a sparse dose rate map of the entire study site via the UAS and, subsequently, to perform detailed UGV-based mapping in limited radiation-contaminated regions. To accomplish these tasks, we designed numerous methods and data processing algorithms to facilitate, for example, digital elevation model-based terrain following for the UAS, automatic selection of the regions of interest, obstacle map-based UGV trajectory planning, and source localization. The overall usability of the multirobotic system was demonstrated by means of a 1-day, authentic experiment, namely, a fictitious car accident including the loss of several radiation sources. The ability of the system to localize radiation hotspots and individual sources has been verified.

Název v anglickém jazyce

An automated heterogeneous robotic system for radiation surveys: Design and field testing

Popis výsledku anglicky

During missions involving radiation exposure, unmanned robotic platforms may embody a valuable tool, especially thanks to their capability of replacing human operators in certain tasks to eliminate the health risks associated with such an environment. Moreover, rapid development of the technology allows us to increase the automation rate, making the human operator generally less important within the entire process. This article presents a multirobotic system designed for highly automated radiation mapping and source localization. Our approach includes a three-phase procedure comprising sequential deployment of two diverse platforms, namely, an unmanned aircraft system (UAS) and an unmanned ground vehicle (UGV), to perform aerial photogrammetry, aerial radiation mapping, and terrestrial radiation mapping. The central idea is to produce a sparse dose rate map of the entire study site via the UAS and, subsequently, to perform detailed UGV-based mapping in limited radiation-contaminated regions. To accomplish these tasks, we designed numerous methods and data processing algorithms to facilitate, for example, digital elevation model-based terrain following for the UAS, automatic selection of the regions of interest, obstacle map-based UGV trajectory planning, and source localization. The overall usability of the multirobotic system was demonstrated by means of a 1-day, authentic experiment, namely, a fictitious car accident including the loss of several radiation sources. The ability of the system to localize radiation hotspots and individual sources has been verified.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal of Field Robotics

ISSN

1556-4959

e-ISSN

1556-4967

Svazek periodika

38

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

27

Strana od-do

657-683

Kód UT WoS článku

000605180300001

EID výsledku v databázi Scopus

2-s2.0-85099063278