Simulation of Map Construction of a Quadruped Robot in a Neutral Beam Injection System

Abstract

The new quadruped robot platform can be used as a carrier for task robots in site inspection, data collection, and rescue and search. Positioning and mapping set up the premises for the robot to walk and inspect independently in the complex terrain environment. Within the CRAFT neutral beam injection system, the quadruped robot can be equipped with radiation measurement equipment to collect radiation data in the experimental hall. In the present work, the algorithm for environmental map construction at the existing site is validated by simulating the environmental map construction of the proposed quadruped robot platform, providing a theoretical basis for data acquisition and autonomous monitoring of the robot.