Abstract
To solve the problem of mobile robots autonomously searching for unknown radioactive sources, this paper proposes an automatic source search strategy, abbreviated as IMUPF-BIN: the location of the radioactive source is estimated by improved unscented particle filtering (IMUPF) algorithm, and the search path is predicted and planned by bioinspired neural network (BIN) model. First, the search environment is expressed as an occupied grid map, and the BIN model is combined with the grid occupied map to obtain the environment information in the search process. Then, the unscented particle filter (UPF) which is used for source parameter estimation is improved by introducing the idea of linear optimization to improve the efficiency of particle usage and the diversity of particles. Further, the BIN model is introduced to reduce the influence of obstacles on the movement of the robot, thereby improving the search accuracy and efficiency of radioactive source. After the robot detects the radiation count value, the parameter information of the source is estimated through the IMUPF algorithm. By using the activity value of the BIN model and distributed model predictive control (DMPC) to plan the path, while continuously iterating the search process, the location of the radioactive source is finally determined. The simulation results show that in without obstacles environment, the localization accuracy of the IMUPF algorithm is improved by 85.6% and 52.8% compared to the standard particle filtering (PF) and UPF algorithm respectively, and the search time of the IMUPF-BIN algorithm is reduced by 75.9% compared to the gradient search (GS) algorithm. In obstacles environment, the localization accuracy of the IMUPF algorithm is improved by 80.8% and 35.9% compared to the PF and UPF algorithms respectively. In addition, the GS algorithm fails to search for the radioactive source due to the shield of obstacles, while the IMUPF-BIN algorithm can successfully search for radioactive source in a shorter search time.
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