A fast gamma-ray source localization method for mobile robots

A method for fast estimation of radioactive source parameters is presented. Full use was made of multiple continuous count values, combined with triangulation with four-point sampling method to solve high-dimensional optimization to obtain initialized estimates, which converge to maximum likelihood...

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Bibliographic Details
Published in:Applied radiation and isotopes 2022-10, Vol.188, p.110377-110377, Article 110377
Main Authors: Tan, Wei, Zhou, Jianbin, Fang, Fang, Li, Xiaozhe, Hong, Xu
Format: Article
Language:English
Subjects:
Maximum likelihood estimation
Mobile robots
Parameter estimation
Source localization
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Summary:A method for fast estimation of radioactive source parameters is presented. Full use was made of multiple continuous count values, combined with triangulation with four-point sampling method to solve high-dimensional optimization to obtain initialized estimates, which converge to maximum likelihood estimation using an improved hill-climbing algorithm. Cobalt-60 search experiments were conducted in the laboratory using a mobile robot carrying a NaI(TI) detector. Experimental results showed that the method can significantly improve the computational speed. •A method for fast computing parameters of gamma-ray sources is proposed.•Triangulation with four-point sampling was used to obtain initialized estimates.•An improved hill-climbing algorithm is used to make the results converge to a maximum likelihood estimate.•Experimental data was obtained using a robot operating system mobile robot equipped with a NaI(TI) detector.
ISSN:0969-8043
1872-9800
DOI:10.1016/j.apradiso.2022.110377