The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2024
Session ID : 1A1-K03
Conference information

[title in Japanese]
*Yoshifumi ARAIKeisuke SATO
Author information
CONFERENCE PROCEEDINGS RESTRICTED ACCESS

Details
Abstract

We are developing an autonomous mobile robot based on SLAM(Simultaneous Localization And Mapping) technology that can automatically explore environments where topographical information is unknown. In this study, we developed an algorithm to autonomously locate the highest radiation dose point without colliding with any obstacles, using radiation dose as a sensing target. The robot can autonomously avoid obstacles by using a path generation algorithm based on the Dynamic Window Approach. Radiation dose is detected by a GM counter, and the ROS (Robot Operating System) is used to link the robot with an autonomous mobile system to enable automatic acquisition of radiation dose data. The algorithm was verified by running the robot in an actual environment, and the robot was able to locate the point with the highest radiation level while avoiding obstacles in the unknown environment.

Content from these authors
© 2024 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top