Movement control way for wheeled robot for seeking nuclear radiation source

Abstract

The invention discloses a movement control way for a wheeled robot for seeking a nuclear radiation source. Fractional power control is introduced on the basis of a classical extremum seeking algorithm, and nuclear radiation strength is subjected to logarithmic measurement, so that a nuclear radiation source can be searched rapidly in a larger range. The movement control way comprises the following steps of: (a) measuring the nuclear radiation field strength value of the current position with a nuclear radiation sensor on the robot, and performing logarithmic transformation; (b) filtering a virtual field strength value with a filter, and performing fractional power loop processing; and (c) modulating a signal value which is subjected to a fractional power loop together with a sinusoidal signal, amplifying through a proportion loop, adding with an excitation signal, and changing the linear speed of the wheeled robot by using the control input of a system. According to a method disclosed by the invention, remarkable effects on enlarging a converging range and increasing a seeking speed are achieved, the nuclear radiation source can be rapidly found under the condition that ambient position information is lacked, and the searching range can be enlarged greatly and the searching speed can be increased greatly particularly when an initial position is far away from the nuclear radiation source.

Description

technical field [0001] The invention belongs to the field of robots and relates to a motion control method for a wheeled robot to search for nuclear radiation sources. Background technique [0002] With the rapid development of science and technology, more and more nuclear radiation and atomic nuclear energy are exposed to and applied in scientific research in the field of nuclear science and industrial technology, industrial and agricultural production, and people's daily life. But at the same time, nuclear applications have also brought great crises, such as the accident at the Chernobyl nuclear power plant in the former Soviet Union in 1986 and the nuclear leakage accident at the Fukushima nuclear power plant in Japan in 2011. Nuclear radiation is extremely harmful to the human body, and the hazards and protection of nuclear radiation to the human body have become an important topic in modern industrial production. Therefore, the detection of nuclear radiation sources is...

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Problems solved by technology

[0005] The primary consideration of the above studies is the stability of control (Y. Tan, D. Nesic, I. Mareels, “On non-local stability properties of extremum seeking control,” Automatica, vol.42, pp889-903, 2006), And most of them study local stability, the convergence range is greatly limited, and there is no requirement for the convergence speed

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