PELICAN: Panoramic millimeter-wave radar for perception in mobile robotics applications, Part 1: Principles of FMCW radar and of 2D image construction

Abstract

h i g h l i g h t s• PELICAN is a MMW radar designed for perception in mobile robotics applications. • Use of FMCW modulation for easy implementation and short-range measurements.• Limitation to 2D imaging due to the use of a rotating fan-beam antenna. a b s t r a c tRobust environmental perception is a crucial parameter for the development of autonomous ground vehicle applications, especially in the field of agricultural robotics which is one of the priorities for the Horizon 2020 robotics funding (EU funding program for research and innovation). Because of uncontrolled and changing environmental conditions in outdoor and natural environments, data from optical sensors classically used in mobile robotics can be compromised and unusable. In such situations, millimeterwave radar can provide an alternative and complementary solution for perception tasks. The aim of this paper is to present the PELICAN radar, a millimeter-wave radar specifically designed for mobile robotics applications, including obstacle detection, mapping and situational awareness in general. In this first of a two-part paper, the choice of a frequency-modulated continuous-wave radar is explained and the theoretical elements of this solution are detailed. PELICAN radar is using a rotating fan-beam antenna, and the construction of 2D representations of the surrounding environments with radar data is described through simulation results. The second part of the paper will be devoted for a detailed description of PELICAN radar, as well as experimental results.

Tecnología aplicada en el funcionamiento y la detección de minas antipersonales: estado del arte

“…Por lo tanto, la dis -persión de regreso objetivo debe ser significativa. En tales situaciones, el radar de ondas milimétricas puede proporcionar una solución alternativa y complementaria para las tareas de percepción [46][47][48][49][50][51].…”

“…Esto aportaría algo importante a nuestra investigación, como trabajar patrones pequeños de ondas y con características relevantes para construir nuestro algoritmo y simulación, si es el caso. Además de las diferentes aplicaciones que se le han dado dentro de la geofísica [47][48][49][50][51][52], que ve la importancia del estudio de las ondas penetrantes por la información que traen para ser codificada y controlada y, de esta manera, obtener un mejor beneficio, como lo plantean los artículos que en este caso centran su estudio en las GPR [48][49][50][51][52][53][54][55][56][57][58][59][60], pero sin ver lo microscópico del asunto que aportaría mucha información a los modelos por construir.…”

Analysis and design of efficient passive components for the millimeter-wave and THz bands

“…The use of f = 28 GHz as lower limit is as well quite habitual in communication applications [601]- [603], being that this frequency is the carrier of one of the potentially useful bands for such applications. The same can be applied to f = 24 GHz when talking about radar applications [604]- [607]. Other works [608] proceed contrarily and incise in extending the lower limit up to f = 55 GHz in its definition, being this justified by that the frequencies below have already technological and regulatory maturity.…”

“…Several works showed automotive radars systems ready to perform in practical environments [604], [625], [629]. By 2003, most of the car houses offered this kind of radars in their higher classes [605], and from the recent activity [605], [607], [630], [631], the incoming universal use of these systems is, simply, inevitable. However, the real present driver of the mm-wave technology are communications.…”

“…Whereas the first provide good spatial resolution and good target discrimination over a long range in clear weather, the second can operate in harder weather conditions, detecting moving targets easily, and providing accurate range information [598]. Nowadays, the mm-wave band is strongly consolidated in the well-founded military environments (it is time to civil applications now [607]). Current designs operating at f = 94 GHz show very good performance.…”