Search Method of Radioactive Source Based on Particle Filter and Artificial Potential Field

In order to solve the problems of difficulty and low positioning accuracy in the process of radioactive source search, an autonomous source finding method suitable for mobile robot is proposed. In this method, the radiation counting value collected by the mobile robot equipped with the radiation detector is used to establish the radiation attenuation model according to the attenuation law of the gamma ray, and the particle filter algorithm is used to estimate the parameters of the radiation source in real time. The Gaussian distribution function is used to adaptively update the resampled particles to ensure the diversity of the resampled particles. The robot path planning model is established according to the radiation environment, and the artificial potential field law is used to draw the automatic source-seeking path of the robot. Experiments are carried out under matlab, and the results show that the method can find unknown single point source in the occluded environment, and the adaptive updating can improve the stability of the algorithm and reduce the source search error.