Radiation intensity mapping in outdoor environments using a mobile robot with RTK GNSS

Author

Jilek, Tomas

Author_Institution

Fac. of Electr. Eng. & Commun., Brno Univ. of Technol., Brno, Czech Republic

fYear

2015

Firstpage

1

Lastpage

7

Abstract

Two gamma-radiation distribution field measurement experiments are described in the paper. Because of principally dangerous nature of gamma-radiation, the idea was to extensively use robotic systems and automation to minimize human exposure to radiation. The experiment setup as well as Orpheus robotic system are described. Algorithm to autonomously navigate the robot based on RTK GNSS in predefined area is presented. The algorithm was exclusively developed for Orpheus robot, considering its tank-like drive configuration.

Keywords

dosimeters; gamma-ray detection; radioactive pollution; robots; satellite navigation; Orpheus robotic system; gamma-radiation distribution field measurement experiment; gamma-radiation principally dangerous nature; human radiation exposure minimization; mobile robot; outdoor environment; radiation intensity mapping; robot based RTK GNSS autonomous navigation algorithm; tank-like drive configuration; Antenna measurements; Azimuth; Global Positioning System; Mobile robots; Pollution measurement; mobile robots; navigation; radioactive pollution; robot control; satellite navigation systems; terrain mapping;

fLanguage

English

Publisher

ieee

Conference_Titel

Military Technologies (ICMT), 2015 International Conference on

Print_ISBN

978-8-0723-1976-3

Type

conf

DOI

10.1109/MILTECHS.2015.7153755

Filename

7153755