An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot

• Main Authors: Abd Rahman N.A., Sahari K.S.M., Hamid N.A.
• Other Authors: 56342466200
• Format: Article
• Published: Institute of Electrical and Electronics Engineers Inc. 2024
• Subjects: clutter; emergency response; mobile robot; Radiation mapping; Clutter (information theory); Cost effectiveness; Inspection; Mapping; Mobile robots; Radar clutter; Surveys; Clutter; Emergency response; Hotspots; Performance; Radiation intensity; Radiological emergency; Real- time; Robot kinematics; Radiation
• Institution: Universiti Tenaga Nasional

In the event of a radiological emergency, scattered clutters around the accident sites should be thoroughly inspected as they are potentially contaminated and require proper safety handling. The goal of this work was to localise the position of the hotspot within the clutters and estimate their respective radiation intensity using a mobile robot. Given the information from a 2D occupancy map, we proposed a strategy to identify the position of clutters and formulate waypoints that simultaneously serve as sampling positions to acquire radiation measurement. Particle filter was adapted to fuse the measured data and provide the results in real-Time. We also introduced clutter contamination analysis that takes into account the limitations of the detector to derive the worst-case scenario