Accession Number : ADA310773

Title :   Proposal for an Integrated MMW Radar System for Outdoor Navigation,

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s) : Langer, Dirk

PDF Url : ADA310773

Report Date : 10 MAR 1996

Pagination or Media Count : 23

Abstract : The design of a MMW Radar sensor for mobile robot outdoor navigation is presented, that is able to operate robustly even under adverse weather conditions. This sensor has a range of approximately 200 meters and uses a linear array of receivers and wavefront reconstruction techniques to compute range and bearing of objects within the field of view. Currently, sensor design and hardware fabrication have been completed and the sensor is being integrated with other vehicle systems. Signal processing techniques are discussed and results obtained from simulation and the real sensor are presented. Clutter rejection and the ability to classify and differentiate between objects will be improved in addition by integration of the radar data with information from a road geometry perception system. Road geometry perception will be based either on lane marker detection through a video camera or a digital road map. The integrated sensor system can operate as a copilot for a human driver for speed control with respect to traffic density and as a safety monitor for lane changing. In addition it will be able to interact with other modules such as road followers and higher level planners for complete autonomous driving.

Descriptors :   *RADAR TRACKING, *NAVIGATION, SIGNAL PROCESSING, SIMULATION, DENSITY, INTEGRATED SYSTEMS, DETECTORS, WEATHER, MONITORING, TRAFFIC, PILOTS, ROBOTS, FABRICATION, MILLIMETER WAVES, MOBILE, RECEIVERS, CAMERAS, SAFETY, ADVERSE CONDITIONS, SELF OPERATION, GEOMETRY, RADAR RECEIVERS, ROADS, LINEAR ARRAYS, RADAR CLUTTER, VIDEO SIGNALS, DIGITAL MAPS, PERCEPTION, REJECTION, OUTDOOR, SPEED REGULATORS.

Subject Categories : Navigation and Guidance
      Active & Passive Radar Detection & Equipment

Distribution Statement : APPROVED FOR PUBLIC RELEASE