Development of autonomous radiation mapping robot

• Main Authors: Zakaria, Abd Hafiz, Mohd Mustafah, Yasir, Abdullah, Jaafar, Alang Rashid, Nahrul Khair, Abdullah, Taufiq
• Format: Conference or Workshop Item
• Language: English; English; English
• Published: Elsevier BV 2017
• Subjects: TJ Mechanical engineering and machinery; TL Motor vehicles. Aeronautics. Astronautics
• Online Access: http://irep.iium.edu.my/57488/1/57488_Development%20of%20Autonomous_complete.pdf; http://irep.iium.edu.my/57488/2/57488_Development%20of%20Autonomous_SCOPUS.pdf; http://irep.iium.edu.my/57488/13/57488%20Development%20of%20autonomous%20radiation%20mapping%20robot%20WOS.pdf; http://irep.iium.edu.my/57488/; http://ac.els-cdn.com/S1877050917302259/1-s2.0-S1877050917302259-main.pdf?_tid=f49282fe-6139-11e7-b73c-00000aacb35e&acdnat=1499228900_f3a35b1fecc351764dcbb3ee74a31707

This paper discusses the development of a spatial radiation map by an autonomous mobile robot that is equipped with Geiger Muller sensor. Mapping of gamma radiation autonomously using robot as agents will help to prevent harm to human especially when radiation related disaster occur. Hence, we intend to develop a gamma radiation mapping system that reads and process location data of a mobile robot with encoder as well as the radiation data transmitted by the Geiger Muller sensor on the mobile robot. A grid based algorithm was develop to build the radiation map. The system was then tested under several conditions. The results of the spatial distribution map with respect to respective waypoints were discussed at the end of this paper.