Details
| Original language | English |
|---|---|
| Title of host publication | Informatics in Control, Automation and Robotics 12th International Conference |
| Editors | Oleg Gusikhin, Joaquim Filipe, Jurek Sasiadek, Kurosh Madani |
| Pages | 321-335 |
| Number of pages | 15 |
| ISBN (electronic) | 978-3-319-31898-1 |
| Publication status | Published - 15 May 2016 |
Publication series
| Name | Lecture Notes in Electrical Engineering |
|---|---|
| Volume | 383 |
| ISSN (Print) | 1876-1100 |
| ISSN (electronic) | 1876-1119 |
Abstract
This article presents two methods for setting up a scanning unit with low bandwidth radar sensors with a wide opening angle of the main beam and evaluates their suitability for robotic mapping. Both approaches, namely the lateration and the ASR technique, base upon a rotary joint and provide a two-dimensional scan. The relevant theory behind both methods and considerations on erroneous influences is described in the first part of this paper. The focus of the second part is laying on application in occupancy grid and feature mapping, which will be presented through experiments.
Keywords
- ASR, FMCW radar, Lateration, Robotic mapping, SLAM
ASJC Scopus subject areas
- Engineering(all)
- Industrial and Manufacturing Engineering
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Informatics in Control, Automation and Robotics 12th International Conference. ed. / Oleg Gusikhin; Joaquim Filipe; Jurek Sasiadek; Kurosh Madani. 2016. p. 321-335 (Lecture Notes in Electrical Engineering; Vol. 383).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Scanning Techniques with Low Bandwidth Radar for Robotic Mapping and Localization
AU - Fritsche, Paul
AU - Wagner, Bernardo
N1 - Funding Information: This work has partly been supported within H2020-ICT by the European Commission under grant agreement number 645101 (SmokeBot).
PY - 2016/5/15
Y1 - 2016/5/15
N2 - This article presents two methods for setting up a scanning unit with low bandwidth radar sensors with a wide opening angle of the main beam and evaluates their suitability for robotic mapping. Both approaches, namely the lateration and the ASR technique, base upon a rotary joint and provide a two-dimensional scan. The relevant theory behind both methods and considerations on erroneous influences is described in the first part of this paper. The focus of the second part is laying on application in occupancy grid and feature mapping, which will be presented through experiments.
AB - This article presents two methods for setting up a scanning unit with low bandwidth radar sensors with a wide opening angle of the main beam and evaluates their suitability for robotic mapping. Both approaches, namely the lateration and the ASR technique, base upon a rotary joint and provide a two-dimensional scan. The relevant theory behind both methods and considerations on erroneous influences is described in the first part of this paper. The focus of the second part is laying on application in occupancy grid and feature mapping, which will be presented through experiments.
KW - ASR
KW - FMCW radar
KW - Lateration
KW - Robotic mapping
KW - SLAM
UR - http://www.scopus.com/inward/record.url?scp=84978663109&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-31898-1_18
DO - 10.1007/978-3-319-31898-1_18
M3 - Contribution to book/anthology
SN - 9783319318967
T3 - Lecture Notes in Electrical Engineering
SP - 321
EP - 335
BT - Informatics in Control, Automation and Robotics 12th International Conference
A2 - Gusikhin, Oleg
A2 - Filipe, Joaquim
A2 - Sasiadek, Jurek
A2 - Madani, Kurosh
ER -