Simulation of Gamma Radiation Mapping Using an Unmanned Aerial System

Simulation of Gamma Radiation Mapping Using an Unmanned Aerial System

Paper in proceedings (conference paper)

This paper investigates the potential of employing unmanned aerial systems (UASs) for gamma radiation mapping and source localization. Such an approach appears to be advantageous compared to terrestrial radiation mapping – which is, generally, time-intensive – and aerial mapping, whose most prominent drawback consists in the overall cost. The central problem arises mainly from the fact that radiation intensity decreases with the square of the distance, and thus the UAS should fly as close to the ground as possible. This condition, however, often cannot be satisfied due to the height differences of the terrain and vegetation. The simulations performed within the research examine several scenarios, all based on a real mission where gamma radiation mapping was carried out by a terrestrial robot. The results of this experiment are compared with other UAS-based radiation mapping simulations, mostly executed at different flight altitudes and relying on diverse source locations. A novel approach where the flight altitude of the UAS varies based on the terrain shape is also examined and tested on real data. The results show that the presented technique has proved highly beneficial, especially in a difficult topographical relief.

This paper investigates the potential of employing unmanned aerial systems (UASs) for gamma radiation mapping and source localization. Such an approach appears to be advantageous compared to terrestrial radiation mapping – which is, generally, time-intensive – and aerial mapping, whose most prominent drawback consists in the overall cost. The central problem arises mainly from the fact that radiation intensity decreases with the square of the distance, and thus the UAS should fly as close to the ground as possible. This condition, however, often cannot be satisfied due to the height differences of the terrain and vegetation. The simulations performed within the research examine several scenarios, all based on a real mission where gamma radiation mapping was carried out by a terrestrial robot. The results of this experiment are compared with other UAS-based radiation mapping simulations, mostly executed at different flight altitudes and relying on diverse source locations. A novel approach where the flight altitude of the UAS varies based on the terrain shape is also examined and tested on real data. The results show that the presented technique has proved highly beneficial, especially in a difficult topographical relief.

Gamma radiation; Mapping; Simulation; UAS; Unmanned aerial system; Mobile robots

Gamma radiation; Mapping; Simulation; UAS; Unmanned aerial system; Mobile robots

GÁBRLÍK, P.; LÁZNA, T.

2019

03.09.2018

Elsevier B.V.

15th IFAC Conference on Programmable Devices and Embedded Systems PDeS 2018

2405-8963

IFAC-PapersOnLine

51

6

United Kingdom of Great Britain and Northern Ireland

256

262

7

https://www.sciencedirect.com/science/article/pii/S2405896318309091?via%3Dihub

pdes2018_gabrlik