On-board Radiation Sensor and Low-Altitude Contour Mapping of Radiation Fields using UAS Swarm - 18239
This paper addresses the design of light weight radiation sensors for the small-scale unmanned aerial system (UAS), and its implementation for low-altitude radiation source localization and contour mapping. The compact, high-resolution gamma-ray CZT sensors were integrated to UAS platforms as plug-and-play components using Robot Operation System (ROS). In this work, the UAS swarm consists of three platforms positioned in circular formation. The onboard data analysis provides time and position stamped intensities of gamma-ray peaks for each UAS-based sensor that are used as the input data for the swarm flight control algorithm. Each UAS measures radiation simultaneously for estimating gradient of radiation to compute a bulk heading angle of the swarm for contour mapping, which can provide relatively precise boundary of the safe area for potential human exploration. The UAS radiation sensors allow measurements from just few meters up to hundreds of meters thus filling the gap between land- and helicopter- based platforms. The swarm of UAS has advantages over a single agent based approach in detecting radiative sources and effectively mapping the area. The proposed method can locate sources of radiation as well as mapping the contaminated area for enhancing situation awareness capabilities for first responders. Computer simulation is presented for UAS swarm based source localization and contour mapping in the simulated radiation fields created by the MCNP code. Selected key gradient estimation and contour mapping algorithms are validated experimentally with small scale multicopter UAS in the indoor flight test bed. (authors)