Simulation of an Autonomous Radiation Detection Robot in Gazebo and Webots using SLAM and A-Star Algorithm

Abstract

In recent years, there has been a rise in demand for autonomous robots that can perform hazardous tasks, such as nuclear radiation detection. These robots can reduce the danger of human exposure to radiation and improve the efficiency of radiation detection operations. For the development of such robots, it is essential to have simulation environments that accurately mimic real-world conditions. This research paper provides a comprehensive description of the simulation of an autonomous robot for radiation detection in an unknown virtual environment using simultaneous localization and mapping and the A-star algorithm. This paper seeks to validate and evaluate the effectiveness and robustness of the simulation of an autonomous radiation detection robot using the two most prominent and robust robot simulators, Gazebo and WEBOTS.