Movement control way for wheeled robot for seeking nuclear radiation source

Abstract

The invention discloses a motion control method for a wheeled robot to search for a nuclear radiation source, which introduces fractional power control on the basis of a classical extremum search algorithm, and adopts logarithmic measurement of the nuclear radiation intensity at the same time, so that the nuclear radiation intensity can be controlled in a wider range Quickly searching for a nuclear radiation source includes the following steps: a) The nuclear radiation sensor on the robot measures the nuclear radiation field strength value at its current location, and performs logarithmic conversion; b) Filters the virtual field strength value , and then processed by the fractional power link; c) The signal value after the fractional power link is modulated with the sinusoidal signal, amplified by the proportional link, and then added to the excitation signal, which is used as the control input of the system to change the linear velocity of the wheeled robot. The method of the invention has remarkable effects on expanding the convergence range and speeding up the search speed, and can quickly find the nuclear radiation source when there is no environmental location information, especially when the initial position is far away from the nuclear radiation source, the search range and speed can be greatly improved.

Description

Technical field [0001] The present invention is a robot field, involving a motion control method for rotating robots to find nuclear radiation sources. Background technique [0002] With the rapid development of science and technology, scientific research, industrial and agricultural production, and people's daily life in the fields of nuclear science and industrial technology are increasingly exposed and applied to various nuclear radiation energy and atomic nuclear energy.But at the same time, nuclear applications have also brought a great crisis, such as accidents in the Chel Nobel Nuclear Power Station of the Soviet Union before 1986 and a nuclear leakage accident at the Fukushima nuclear power plant in Japan in 2011.Nuclear radiation has great damage to the human body, and the problems and protection of nuclear radiation to the human body have become an important issue in modern industrial production.Therefore, the detection of nuclear radiation sources is very necessary, bu...

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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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