Detail publikace

A Comparison Particle Filter for Searching a Radiation Source in Real and Simulated World

CIHLÁŘ, M. LÁZNA, T. ŽALUD, L.

Originální název

A Comparison Particle Filter for Searching a Radiation Source in Real and Simulated World

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

In this paper, we are focusing on comparing so- lutions for localizing an unknown radiation source in both a Gazebo simulator and the real world. A proper simulation of the environment, sensors, and radiation source can significantly reduce the development time of robotic algorithms. We proposed a simple sampling importance resampling (SIR) particle filter. To verify its effectiveness and similarities, we first tested the algorithm’s performance in the real world and then in the Gazebo simulator. In experiment, we used a 2-inch NaI(Tl) radiation detector and radiation source Cesium 137 with an activity of 330 Mbq. We compared the algorithm process using the evolution of information entropy, variance, and Kullback-Leibler divergence. The proposed metrics demonstrated the similarity between the simulator and the real world, providing valuable insights to improve and facilitate further development of radiation search and mapping algorithms.

Klíčová slova

Particle filter, Particle filter comparison, Simulation of radioactivity, Kullback-Leibler divergence, Information entropy, Autonomous radiation search

Autoři

CIHLÁŘ, M.; LÁZNA, T.; ŽALUD, L.

Vydáno

25. 4. 2023

Nakladatel

Brno University of Technology, Faculty of Electronic Engineeringy and Communication

Místo

Brno

ISBN

978-80-214-6154-3

Kniha

Proceedings II of the 29 th Conference STUDENT EEICT 2023 Selected papers

Edice

1

ISSN

2788-1334

Periodikum

Proceedings II of the Conference STUDENT EEICT

Stát

Česká republika

Strany od

258

Strany do

263

Strany počet

6

URL

https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2023_sbornik_2_v2.pdf

BibTex

@inproceedings{BUT184299,
  author="Miloš {Cihlář} and Tomáš {Lázna} and Luděk {Žalud}",
  title="A Comparison Particle Filter for Searching a Radiation Source in Real and Simulated World",
  booktitle="Proceedings II of the 29 th Conference STUDENT EEICT 2023 Selected papers",
  year="2023",
  series="1",
  journal="Proceedings II of the Conference STUDENT EEICT",
  pages="258--263",
  publisher="Brno University of Technology, Faculty of Electronic Engineeringy and Communication",
  address="Brno",
  isbn="978-80-214-6154-3",
  issn="2788-1334",
  url="https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2023_sbornik_2_v2.pdf"
}