A mobile robotic platform for generating radiation maps

Authors:
Florentin von Frankenberg;Robin McDougall;Scott Nokleby;Ed Waller
Affiliations:
Institute of Technology, University of Ontario, Oshawa, Ontario, Canada;Institute of Technology, University of Ontario, Oshawa, Ontario, Canada;Institute of Technology, University of Ontario, Oshawa, Ontario, Canada;Institute of Technology, University of Ontario, Oshawa, Ontario, Canada
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Year:
2012

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Abstract

The use of mobile robots to collect the sensor readings required to generate radiation maps has the significant advantage of eliminating the risk of exposure that humans would otherwise face by collecting the readings by hand. In this work, a mobile robotic platform designed specifically to collect this information to synthesize radiation maps is presented. Details of the design are discussed, focusing in particular on the physical map generating capabilities of this new platform that are necessary to enable the generation of the radiation maps. The physical maps are generated using a laser range finder based implementation of Simultaneous Localization and Mapping (SLAM).