Radioactive Source Detection System Based on Autonomous Mobile Robot

The intensive application of radioactive sources in various fields has led to a rise in incidents involving their loss. Focusing on the rapid and safe detection of radiation environments and the localization of radioactive sources, this paper integrates the design of detection robots, radiation localization techniques, and path tracking to create a radioactive source detection system based on autonomous mobile robots. The design of the detection robot considers the unique challenges posed by radiation environments. In terms of localization, an adaptive radioactive source localization algorithm based on the Bayesian model, incorporating angle of arrival (AOA), is proposed to estimate the location of radioactive sources. Path planning is optimized using the Pure Pursuit algorithm to enhance tracking accuracy. Finally, on a mobile robot platform, an unknown radioactive source search experiment is conducted, validating the effectiveness of the system and vigorously advancing the field of radioactive source detection.