Path Planning for Localization of Radiation Sources Based on Principal Component Analysis

In this paper, we propose a path planning method for the localization of radiation sources using mobile robot equipped with an imaging gamma-ray detector, which has field view in all directions. The ability to detect and localize is essential ensuring nuclear safety, security, surveillance. To enable autonomous sources, must have automatically determine next location gamma ray measurement instead following predefined path. number incident events approximated be squared inverse proportional distance between source detector. Therefore, closer source, shorter time required obtain same counts measured by Hence, proposed designed reduce position where sufficient can obtained; then, surround generated. generates performing principal component analysis based on results obtained from previous measurements. Both simulations actual experiments demonstrate that generate accurately sources.