Title :
Radiation intensity mapping in outdoor environments using a mobile robot with RTK GNSS
Author_Institution :
Fac. of Electr. Eng. & Commun., Brno Univ. of Technol., Brno, Czech Republic
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;
Conference_Titel :
Military Technologies (ICMT), 2015 International Conference on
Print_ISBN :
978-8-0723-1976-3
DOI :
10.1109/MILTECHS.2015.7153755
