强激光与粒子束2024，Vol.36Issue(12)：136-142,7.DOI:10.11884/HPLPB202436.240069
一种虚拟核退役环境下多无人车辐射巡测系统设计
Design of a multi unmanned vehicle radiation monitoring system in virtual nuclear retirement environment
摘要
Abstract
To improve the radiation measurement efficiency of nuclear retirement facilities and reduce the risk of radiation exposure to measurement personnel,a radiation patrol control system for multiple unmanned vehicle formations has been designed.Firstly,the navigation following formation strategy is adopted to control the robots to move in a predetermined formation,while collecting real-time radiation intensity information and their respective position data measured by each unmanned vehicle during the formation process,to preliminarily analyze the radiation distribution inside the environment.Secondly,utilizing radiation intensity and location information,the Markov chain Monte Carlo method is employed to estimate the parameters of the radiation source.The simulation results show that the unmanned vehicle formation can move along the automatically planned path in radiation environment,with advantages such as fast response speed,high control accuracy,and it can estimate the parameters of the radiation source position coordinates.关键词
核退役环境/领航跟随法/无人车编队/放射源估计/辐射巡测Key words
nuclear radiation environment/leader-follower/unmanned vehicle formation/radiation source estimation/radiation detection分类
能源科技引用本文复制引用
冯青林,胡春鹤,杜垚垚..一种虚拟核退役环境下多无人车辐射巡测系统设计[J].强激光与粒子束,2024,36(12):136-142,7.基金项目
国家自然科学基金项目(61703047) （61703047）
