Simulation of Radiation Source Localization through Circle Approach and 3-D Visualization of Unknown Environment Using UGV Equipped with 3-D Lidar Based on Rotational 2-D Lidar
Abstract
Localization, identification, and quantification of radioactive sources in an unknown environment with conventional methods based on a technician carrying a handheld radiation detector, such as the Geiger Muller detector, is considered a time-consuming and hazardous method. Although autonomy is still a question mark for a fast emergency response to accident scenarios such as Fukushima Daiichi, developments in
autonomous robotics can be faultlessly integrated into radioactive source searching problems with maximum accuracy and minimum span to protect human workers due to the extremely harmful nature of radiation. A radiation source model of Cs-137 and Am-241
employing Ray-Tracing algorithms as well as Timepix hybrid pixel detector that is exceedingly small, powerful, and capable of measuring has been recently contributed to literature for the first time so that researchers are able to simulate these models and test methods under different conditions even if there is no real detector and source. In this research,
the visualization of an unknown environment using a 3D LIDAR based on a 2D rotational LIDAR instead of an available 3D LIDAR, which is still an expensive technology for robotic platforms, has been developed. The circular approach based on a
probability density function (PDF) of normal distribution has been presented to estimate
the localization of radiation sources in an unknown environment. The Gazebo simulator has been employed to spawn an empty environment and test the circular algorithm using a Timepix detector and Am-241 radiation source. The accuracy and duration results captured from the experiment are compared to similarly available methods in the literature. The circular method is competitive in terms of duration to estimate the source position. Unmanned Ground Vehicles (UGVs) have an extremely high level of accuracy advantage in estimating a point source's actual position. This advantage is preserved in the circular approach.
Citation
Durukan, Halit Murat (2021). Simulation of Radiation Source Localization through Circle Approach and 3-D Visualization of Unknown Environment Using UGV Equipped with 3-D Lidar Based on Rotational 2-D Lidar. Master's thesis, Texas A&M University. Available electronically from https : / /hdl .handle .net /1969 .1 /195306.