A coverage path planning approach for autonomous radiation mapping with a mobile robot
In nuclear and radiation-related industries, it is crucial to ensure that the radiation dose exposure to the radiation worker is maintained below the permissible dose limit. A radiation map is a useful tool for visualizing the radiation distribution across the work area and for coordinating activiti...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2022-08-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806221116483 |
| _version_ | 1828148924357017600 |
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| author | Nur Aira Abd Rahman Khairul Salleh Mohamed Sahari Nasri A Hamid Yew Cheong Hou |
| author_facet | Nur Aira Abd Rahman Khairul Salleh Mohamed Sahari Nasri A Hamid Yew Cheong Hou |
| author_sort | Nur Aira Abd Rahman |
| collection | DOAJ |
| description | In nuclear and radiation-related industries, it is crucial to ensure that the radiation dose exposure to the radiation worker is maintained below the permissible dose limit. A radiation map is a useful tool for visualizing the radiation distribution across the work area and for coordinating activities involving the hotspots (high radiation areas). The goal of this work was to design and implement a coverage path planning approach for autonomous radiation mapping carried out by a mobile robot. Given a 2D occupancy map, a method to generate uniformly distributed sampling points was proposed. The geometry of the region of interest, the radiation detector module, and the radiation measurement parameters were considered in formulating the sampling positions. Next, the coverage path planning planner integrates the nearest neighbor and depth-first search algorithms to create a continuous path that enables the robot to visit all the sampling points. The K-means clustering algorithm is added for systematic coverage of a large number of sampling points. The clustering provides options to partition the region of interest into smaller spaces, where the robot would perform the mapping cluster by cluster. Finally, the method of building the radiation map from the acquired data was also presented. The approach was implemented in ROS using a commercial mobile robot equipped with a Geiger–Muller detector. The performance and reliability of the proposed approach were evaluated with a series of simulations and real-world experiments. The results showed that the robot is able to perform autonomous radiation mapping at various target areas. The accuracy of the generated radiation map and the hotspots classifications were also compared and evaluated with conventional manual measurements. Overall, the theoretical frameworks and experiments have provided convincing results in the automation of hazardous work and subsequently toward improving the occupational safety of radiation workers. |
| first_indexed | 2024-04-11T21:22:37Z |
| format | Article |
| id | doaj.art-e0411edc400b4c02a74ec8c04026bd73 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-11T21:22:37Z |
| publishDate | 2022-08-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-e0411edc400b4c02a74ec8c04026bd732022-12-22T04:02:34ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142022-08-011910.1177/17298806221116483A coverage path planning approach for autonomous radiation mapping with a mobile robotNur Aira Abd Rahman0Khairul Salleh Mohamed Sahari1Nasri A Hamid2Yew Cheong Hou3 Malaysian Nuclear Agency, Malaysia College of Engineering, Universiti Tenaga Nasional, Malaysia College of Engineering, Universiti Tenaga Nasional, Malaysia College of Engineering, Universiti Tenaga Nasional, MalaysiaIn nuclear and radiation-related industries, it is crucial to ensure that the radiation dose exposure to the radiation worker is maintained below the permissible dose limit. A radiation map is a useful tool for visualizing the radiation distribution across the work area and for coordinating activities involving the hotspots (high radiation areas). The goal of this work was to design and implement a coverage path planning approach for autonomous radiation mapping carried out by a mobile robot. Given a 2D occupancy map, a method to generate uniformly distributed sampling points was proposed. The geometry of the region of interest, the radiation detector module, and the radiation measurement parameters were considered in formulating the sampling positions. Next, the coverage path planning planner integrates the nearest neighbor and depth-first search algorithms to create a continuous path that enables the robot to visit all the sampling points. The K-means clustering algorithm is added for systematic coverage of a large number of sampling points. The clustering provides options to partition the region of interest into smaller spaces, where the robot would perform the mapping cluster by cluster. Finally, the method of building the radiation map from the acquired data was also presented. The approach was implemented in ROS using a commercial mobile robot equipped with a Geiger–Muller detector. The performance and reliability of the proposed approach were evaluated with a series of simulations and real-world experiments. The results showed that the robot is able to perform autonomous radiation mapping at various target areas. The accuracy of the generated radiation map and the hotspots classifications were also compared and evaluated with conventional manual measurements. Overall, the theoretical frameworks and experiments have provided convincing results in the automation of hazardous work and subsequently toward improving the occupational safety of radiation workers.https://doi.org/10.1177/17298806221116483 |
| spellingShingle | Nur Aira Abd Rahman Khairul Salleh Mohamed Sahari Nasri A Hamid Yew Cheong Hou A coverage path planning approach for autonomous radiation mapping with a mobile robot International Journal of Advanced Robotic Systems |
| title | A coverage path planning approach for autonomous radiation mapping with a mobile robot |
| title_full | A coverage path planning approach for autonomous radiation mapping with a mobile robot |
| title_fullStr | A coverage path planning approach for autonomous radiation mapping with a mobile robot |
| title_full_unstemmed | A coverage path planning approach for autonomous radiation mapping with a mobile robot |
| title_short | A coverage path planning approach for autonomous radiation mapping with a mobile robot |
| title_sort | coverage path planning approach for autonomous radiation mapping with a mobile robot |
| url | https://doi.org/10.1177/17298806221116483 |
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