Path Planning for Localization of Radiation Sources Based on Principal Component Analysis
Path Planning for Localization of Radiation Sources Based on Principal Component Analysis
复制标题
DOI：
10.3390/app11104707
复制
发表时间：
2021-05-01
影响因子：
2.7
通讯作者：
Asama, Hajime
中科院分区：
文献类型：
--
作者：
Kishimoto, Takuya;Woo, Hanwool;Asama, Hajime
在本文中，我们提出了一种路径规划方法的辐射源的定位使用移动的机器人配备了成像伽马射线探测器，它具有在各个方向的视野。检测和定位辐射源的能力对于确保核安全、安保和监督至关重要。为了实现辐射源的自主定位，机器人必须能够自动确定下一个伽马射线测量位置，而不是遵循预定义的路径。入射事件的数量近似与辐射源和探测器之间的距离成平方反比。因此，距离源越近，获得由检测器测量的相同辐射计数所需的时间越短。因此，所提出的方法被设计为将该距离减小到可以获得足够数量的伽马射线事件的位置;然后，生成围绕辐射源的路径。所提出的方法通过执行主成分分析从以前的测量获得的结果的基础上生成该路径。仿真和实际实验均表明，该方法能够自动生成测量路径，准确定位辐射源。
In this paper, we propose a path planning method for the localization of radiation sources using a mobile robot equipped with an imaging gamma-ray detector, which has a field of view in all directions. The ability to detect and localize radiation sources is essential for ensuring nuclear safety, security, and surveillance. To enable the autonomous localization of radiation sources, the robot must have the ability to automatically determine the next location for gamma ray measurement instead of following a predefined path. The number of incident events is approximated to be the squared inverse proportional to the distance between the radiation source and the detector. Therefore, the closer the distance to the source, the shorter the time required to obtain the same radiation counts measured by the detector. Hence, the proposed method is designed to reduce this distance to a position where a sufficient number of gamma-ray events can be obtained; then, a path to surround the radiation sources is generated. The proposed method generates this path by performing principal component analysis based on the results obtained from previous measurements. Both simulations and actual experiments demonstrate that the proposed method can automatically generate a measurement path and accurately localize radiation sources.