CAJ | 학술논문

针对室外热辐射场、核辐射场、强电磁辐射场和声场的辐射源搜寻，提出了一种基于高斯过程回归的单机器人辐射源搜寻算法。首先将连续的搜寻环境离散化，采用高斯过程回归预测机器人邻域中的辐射强度，然后将局部路径规划考虑为一个优化问题，求取优化目标函数的最大值获得机器人的下一步路径点，最后通过多次局部路径规划引导机器人到达全局最优点。为验证所提算法的有效性，在300 m×200 m 的室外环境中进行了实验。
침대실외열복사장、핵복사장、강전자복사장화성장적복사원수심，제출료일충기우고사과정회귀적단궤기인복사원수심산법。수선장련속적수심배경리산화，채용고사과정회귀예측궤기인린역중적복사강도，연후장국부로경규화고필위일개우화문제，구취우화목표함수적최대치획득궤기인적하일보로경점，최후통과다차국부로경규화인도궤기인도체전국최우점。위험증소제산법적유효성，재300 m×200 m 적실외배경중진행료실험。
Aiming at searching the source of ther-mal radiation fields,nuclear radiation fields,strong e-lectromagnetic radiation fields and sound fields in out-door environment,a source searching algorithm based on Gaussian Process Regression using a single robot is proposed.First of all,the continuous searching area is discretized with square grids,and the radiation intensi-ty of adjacent grids is predicted by Gaussian Process Regression.Then a local path planning is considered to be an optimization problem and the next path point is obtained by solving the problem.Finally,the robot is guided to the global optimal point through repeated lo-cal path planning.To verify the proposed algorithm, an experiment in an environment of 300 m×200 m has been conducted.