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

作　　者：冯青林 胡春鹤[1] 杜垚垚[2] Feng Qinglin;Hu Chunhe;Du Yaoyao(School of Technology,Beijing Forestry University,Beijing 100083,China;Institute of High Energy Physics,Chinese Academy of Sciences,Beijing 100039,China)

机构地区：[1]北京林业大学工学院,北京100083 [2]中国科学院高能物理研究所,北京100039

出　　处：《强激光与粒子束》2024年第12期136-142,共7页High Power Laser and Particle Beams

基　　金：国家自然科学基金项目(61703047)。

摘　　要：为提高核退役设施辐射测量效率、减少测量人员遭受放射性照射的风险,设计了一种面向多无人车编队辐射巡测控制系统。首先,采用领航-跟随编队策略,控制机器人以预定队形行进,同时实时采集每个无人车在编队行进过程中巡测到的辐射强度信息以及它们各自的位置数据,初步分析环境内部的辐射分布状况。其次,利用辐射强度与位置信息,运用马尔科夫链蒙特卡罗方法对放射源参数进行估计。仿真结果表明,无人车编队不仅可以在辐射环境下按照自动规划的路径运动并对放射源位置进行参数估计,且行进过程中距离误差为0~0.055 m,观测角误差为0~0.035 rad。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 

分 类 号：TL751[核科学技术—辐射防护及环境保护] TP242.6[自动化与计算机技术—检测技术与自动化装置]