Роботизована радіаційна розвідка в зоні відчуження Чорнобильської АЕС

• Datum: 2024
• Hauptverfasser: Saveliev, M., Shtefan, V., Proskurin, O., Pantin, M., Martin, P. G., Grechaninov, V., Havrylko, Ye.
• Format: Artikel
• Sprache: English
• Veröffentlicht: State Scientific and Technical Center for Nuclear and Radiation Safety 2024
• Online Zugang: https://nuclear-journal.com/index.php/journal/article/view/1137
• Назва журналу: Nuclear and Radiation Safety

Problems associated with radiation confinement, reconnaissance and mapping in the Chornobyl Exclusion Zone (e.g. scale of the area, natural risks and consequences of combat operations) make the development and deployment of robotic radiation reconnaissance technologies and methodologies relevant and timely. This effort proposes a novel robotic radiation reconnaissance system consisting of three different types of robots: (i) a wheeled unmanned ground vehicles that serves as a carrier and control center for (ii) a quadrupedal unmanned ground vehicles and (iii) a multirotor aerial vehicles – both for surveying in hard-to-reach and inaccessible areas. The combination of the capabilities and strengths of each of the robotic platforms, each transporting a radiation detection payload, enhances the overall quality of the radiation survey undertake. The heavy carrier platform first moves along the predefined route, stopping at certain points, or if the threshold radiation levels are exceeded. During the pause, the wheeled platform deploys the abovementioned reconnaissance robots, the missions for which are autonomously managed by the control center platform. Reconnaissance robots subsequently send data about their surroundings to the control center, which resultantly collects and processes the data adjusting the routes of the reconnaissance robots as required. The Robot Operating System (ROS) is proposed as a meta-operating system to control and manage data exchange between components like robots and measuring devices to tackle the challenge of integrating systems from different manufacturers into a unified system. Additionally, a functional decomposition of the system is presented.