Robotic Exploration of an Unknown Nuclear Environment Using Radiation Informed Autonomous Navigation

This paper describes a novel autonomous ground vehicle that is designed for exploring unknown environments which contain sources of ionising radiation, such as might be found in nuclear disaster site or legacy facility. While the environment, it important robot avoids radiation hot spots to minimise breakdowns. Broken down robots present real problem: they not only cause mission fail but can block access routes future missions. Until now, have had no gamma avoidance capabilities. New software algorithms are presented allow measurements converted into format integrated robot’s navigation system so actively avoid receiving high dose during mission. An unmanned was fitted with detector and an package included new software. The full evaluated experimentally complex semi-structured environment contained two sources. In experiment, successfully identified both avoided areas were levels while navigating between user defined waypoints. advancement state-of-the-art has potential deliver benefit industry, terms increased chance success reduction reliance on human operatives perform tasks dangerous environments.