A 24-GHz Wireless Locating System for Human–Robot Interaction

Journal article
(Review article)

Publication Details

Author(s): Dobrev Y, Pavlenko T, Geiß J, Lipka M, Gulden P, Vossiek M
Journal: IEEE Transactions on Microwave Theory and Techniques
Publication year: 2019
Volume: 67
Journal issue: 5
Pages range: 2036-2044
ISSN: 0018-9480
Language: English


Due to technological advances in various fields and the rising demand
for automation, the popularity of service robots is expected to grow
rapidly in the upcoming years. One of the core functions of such robots
is their interaction with people. One type of interaction, which is
studied in this paper, is when the robot leads or follows a person. This
presupposes that the position of the person is known relative to the
mobile robot. In this paper, we present a 24-GHz wireless locating
system to enable this kind of human–robot interaction. The system
consists of a radar node attached to the robot and an active portable
wireless beacon that is carried by the person. Using a secondary radar
approach to measure the distance and angle to the beacon, the 2-D
position of the person relative to the mobile robot can be accurately
determined by a single radar node on the robot. This is unfeasible with
standard multilateration localization approaches. An extended Kalman
filter is used to increase the accuracy and reliability of the
positioning system. The measurements presented in this paper, performed
in a scenario that is both challenging and realistic, demonstrate the
effectiveness of the proposed approach.

FAU Authors / FAU Editors

Dobrev, Yassen
Lehrstuhl für Hochfrequenztechnik
Geiß, Johanna
Lehrstuhl für Hochfrequenztechnik
Lipka, Melanie
Lehrstuhl für Hochfrequenztechnik
Pavlenko, Tatiana
Lehrstuhl für Hochfrequenztechnik
Vossiek, Martin Prof. Dr.-Ing.
Lehrstuhl für Hochfrequenztechnik

External institutions with authors

Symeo GmbH

How to cite

Dobrev, Y., Pavlenko, T., Geiß, J., Lipka, M., Gulden, P., & Vossiek, M. (2019). A 24-GHz Wireless Locating System for Human–Robot Interaction. IEEE Transactions on Microwave Theory and Techniques, 67(5), 2036-2044. https://dx.doi.org/10.1109/TMTT.2019.2896555

Dobrev, Yassen, et al. "A 24-GHz Wireless Locating System for Human–Robot Interaction." IEEE Transactions on Microwave Theory and Techniques 67.5 (2019): 2036-2044.


Last updated on 2019-08-05 at 09:53