基于高斯模型的核探测机器人寻找核辐射源方法

A Gaussian model based method for nuclear detection robots to locate radiation sources

针对核泄露后核放射源准确定位的问题,提出了用核探测机器人自主寻找核辐射源的方法。该方法利用高斯模型描述核泄漏事故发生后周围大气中放射性核素云团的扩散,估测地面上放射性核素水平,并利用小型核探测机器人搭载核辐射探测仪,实时探测核辐射水平;根据建立的核污染扩散模型,采用模拟退火算法,自主寻找地面放射性核素辐射浓度最高的区域;通过基于超声模糊避障控制系统,保证机器人在执行任务中无碰撞。模拟核辐射源泄漏事故实验结果表明,该方法可以帮助机器人自主寻找到地面核素辐射水平最高区域。

To achieve the accurate location of the nuclear radiation source when a nuclear leakage accident happens, this paper presents a method of using nuclear detection robots to autonomously search the nuclear radiation source. The method is characterised below ： The Gaussian model is used to describe the spread of radionuclide clouds after a nuclear leakage accident happens and estimate the radiation level of radionuclides on the ground; The intensity of nuclear is measured real-time using a small nuclear reconnaissance robot equipped with a nuclear radiation meter; The simulated annealing algorithm is used to autonomously find the radionuclide area with the highest radiation concen- tration according to the established nuclear pollution dispersion model; and an obstacle avoidance system based on fuzzy control using ultrasonic sensors is used to ensure robot collision-free. The simulation experiments on nuclear leakage accident were conducted, and the results show the method can help a robot autonomously to find the highest radiation level of radionuclide on the ground.