Source Search Method for Kernel Density Estimation Based on Optimal Bandwidth
For the problem of locating radiation sources after a radioactive material leak,this paper proposes a mo-bile robotic source search method based on improved nuclear density estimation.The accuracy of kernel density esti-mation has been improved by refining the traditional bandwidth calculation method.The mobile robot equipped with the sensor module collects a small amount of observation data in the environmental field.Then,the probability density model is calculated and the density distribution map of the space field is established.The maximum density position is estimated as the movement direction of the mobile robot.In the process of moving,the mobile robot continues to col-lect data and perform kernel density estimation again.Meanwhile,the bandwidth and field density distribution map are updated to achieve source search and location.In the indoor environment,a light source was used to replace the radia-tion source,experimental results verified the effectiveness of the proposed method.
Source searchingKernel density estimationOptimal bandwidthDensity distribution map
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