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

Dobrev Y, Pavlenko T, Geiß J, Lipka M, Gulden P, Vossiek M (2019)

Publication Language: English

Publication Type: Journal article, Review article

Publication year: 2019


Book Volume: 67

Pages Range: 2036-2044

Journal Issue: 5

DOI: 10.1109/TMTT.2019.2896555


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.

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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://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.

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