Obstacle avoidance behavior of an autonomous mobile robot in a radioactive environment based on fuzzy logic

Abstract

Five years after the Fukushima nuclear disaster, many robots have been developed to enter areas that are too radioactive for humans, in the event of a nuclear accident, measuring the level of radioactivity can be difficult and risky. A new detection system has been developed to come to the aid of plant operators and managers in certain emergency situations. While navigating in a radioactive environment and looking for sources.to facilitate this operation and make it safer, we have to assess the autonomy of this system, which is a robot operating in a radioactive environment based and to guarantee autonomy and intelligence for obstacle avoidance behavior, we will use a tool such as Fuzzy Logic (LF). In this article, we present an obstacle avoidance approach using this tool. The approach is validated by a virtual simulation on Matlab Simulink.