Short-range millimeter-wave radar perception in a polar environment
Abstract–Autonomous vehicle operations in Antarctica challenge robotic perception. Flying ice and snow, changing illumination due to low sun angles and lack of contrast degrade stereo and laser sensing. Millimeter-wave radar offers remarkable advan-tages as a robotic perception modality because it i...
| Main Authors: | , , |
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| Format: | Text |
| Language: | English |
| Published: |
1999
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| Subjects: | |
| Online Access: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.643.9179 http://www8.cs.umu.se/research/ifor/dl/Sensors/radar/Short-Range Millimeter-Wave Radar Perception in a Polar Environment.pdf |
| Summary: | Abstract–Autonomous vehicle operations in Antarctica challenge robotic perception. Flying ice and snow, changing illumination due to low sun angles and lack of contrast degrade stereo and laser sensing. Millimeter-wave radar offers remarkable advan-tages as a robotic perception modality because it is not as sensi-tive to the aforementioned conditions. Experiments with millimeter-wave radar in an Antarctic environment show mini-mal degradation of millimeter-wave sensing capabilities under blowing-snow conditions, as well as backscatter obtained from polar-terrain surfaces at grazing angles and detection of obsta-cles commonly found in polar areas. This paper presents issues relevant to short-range radar perception for a mobile robot in an Antarctic environment. The article describes the experiments and data-analysis procedures, and draws conclusions on the util-ity of millimeter-wave radar as a robotic sensor for obstacle avoidance and navigation in polar settings. Keywords–Millimeter-wave radar, millimeter-wave imaging, radar scattering, mobile robots, robot sensing. I. |
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