Localization and Navigation of Service Robots by means of M-Sequence UWB Radars
Smeenk C, Wegner TE, Kropp G, Trabert J, Del Galdo G (2021)
Publication Type: Conference contribution
Publication year: 2021
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 189-192
Conference Proceedings Title: 2021 18th European Radar Conference, EuRAD 2021
Event location: London, GBR
ISBN: 9782874870651
DOI: 10.23919/EuRAD50154.2022.9784511
Abstract
The use of service robots has become much more relevant in industry and retail in recent years. To be of best possible benefit to humans, an autonomous motion ability of the service robots is of central importance. This requires that the robot can perceive its surroundings as precisely as possible by using different sensors and their fusion. In contrast to optical sensors, an UWB sensor can, for example, detect small and almost invisible objects such as glass panes with high range resolution. In this paper, a signal processing chain for detection of the environment with M-sequence UWB sensors is proposed. The proposed chain includes pulse reconstruction based on calibration measurements, background subtraction, object detection based on CFAR techniques, and multi-target tracking based on the Kalman filter and the nearest-neighbor approach.
Involved external institutions
Technische Universität Ilmenau
Germany (DE)
MetraLabs GmbH Neue Technologien und Systeme
Germany (DE)
Germany (DE)
MetraLabs GmbH Neue Technologien und Systeme
Germany (DE)
How to cite
APA:
Smeenk, C., Wegner, T.E., Kropp, G., Trabert, J., & Del Galdo, G. (2021). Localization and Navigation of Service Robots by means of M-Sequence UWB Radars. In 2021 18th European Radar Conference, EuRAD 2021 (pp. 189-192). London, GBR: Institute of Electrical and Electronics Engineers Inc..
MLA:
Smeenk, Carsten, et al. "Localization and Navigation of Service Robots by means of M-Sequence UWB Radars." Proceedings of the 18th European Radar Conference, EuRAD 2021, London, GBR Institute of Electrical and Electronics Engineers Inc., 2021. 189-192.
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