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A coverage path planning approach for autonomous radiation mapping with a mobile robot

Air navigation; Image segmentation; K-means clustering; Machine design; Mapping; Mobile robots; Motion planning; Radiotherapy; Robot programming; Coverage path planning; Field robotics; Hotspots; Mobile Robot Navigation; Radiation mapping; Radiation maps; Radiation safety; Radiation workers; Regions...

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Main Authors: Abd Rahman N.A., Sahari K.S.M., Hamid N.A., Hou Y.C.
Other Authors: 57855445300
Format: Article
Published: SAGE Publications Inc. 2023
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spelling my.uniten.dspace-268292023-05-29T17:37:01Z A coverage path planning approach for autonomous radiation mapping with a mobile robot Abd Rahman N.A. Sahari K.S.M. Hamid N.A. Hou Y.C. 57855445300 57218170038 57762573900 37067465000 Air navigation; Image segmentation; K-means clustering; Machine design; Mapping; Mobile robots; Motion planning; Radiotherapy; Robot programming; Coverage path planning; Field robotics; Hotspots; Mobile Robot Navigation; Radiation mapping; Radiation maps; Radiation safety; Radiation workers; Regions of interest; Sampling points; Radiation 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. � The Author(s) 2022. Final 2023-05-29T09:37:01Z 2023-05-29T09:37:01Z 2022 Article 10.1177/17298806221116483 2-s2.0-85136478978 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85136478978&doi=10.1177%2f17298806221116483&partnerID=40&md5=75d68f23ef5133cf0920dbbf77420939 https://irepository.uniten.edu.my/handle/123456789/26829 19 4 SAGE Publications Inc. Scopus
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
description Air navigation; Image segmentation; K-means clustering; Machine design; Mapping; Mobile robots; Motion planning; Radiotherapy; Robot programming; Coverage path planning; Field robotics; Hotspots; Mobile Robot Navigation; Radiation mapping; Radiation maps; Radiation safety; Radiation workers; Regions of interest; Sampling points; Radiation
author2 57855445300
author_facet 57855445300
Abd Rahman N.A.
Sahari K.S.M.
Hamid N.A.
Hou Y.C.
format Article
author Abd Rahman N.A.
Sahari K.S.M.
Hamid N.A.
Hou Y.C.
spellingShingle Abd Rahman N.A.
Sahari K.S.M.
Hamid N.A.
Hou Y.C.
A coverage path planning approach for autonomous radiation mapping with a mobile robot
author_sort Abd Rahman N.A.
title 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_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_sort coverage path planning approach for autonomous radiation mapping with a mobile robot
publisher SAGE Publications Inc.
publishDate 2023
_version_ 1806424077603176448
score 13.222552

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