移動ロボットを用いた未知環境の線源マップの作成

抄録

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.