Identification of Unknown Multiple Radiation Sources Using Change Rate of Gamma Rays with Directional Detector

In this study, we construct a system that autonomously and efficiently generates an exploration path that enables the estimation of the distribution of multiple radiation sources, even when the source intensities are unknown. Although the gamma ray detector cannot directly measure the distance to a radiation source, we estimate this distance by analyzing the rate of change in the number of incident gamma rays and use this to localize the source. By employing this parameter, it becomes possible to accurately estimate the distance between the detector and source, thereby significantly reducing the exploration time required for localization. Additionally, we develop a method for path planning and source localization even when multiple radiation sources are distributed across an area. We verify the validity of the proposed method through simulation experiments.