Robot Self Position based on Asynchronous Millimetre Wave Radar Interference
2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN)(2019)
摘要
This paper proposes a method that can be used in robots equipped with millimeter wave (mmWave) radars to estimate its position. The method takes advantage of the interference produced by other radars located in the same environment with well known position. Additionally, to compute the robot position it is used only the Angle-of-Arrival (AoA) of each radar interference. The robot position is estimated by the minimization of a cost function presenting a simple expression with low computational complexity. The performance of the proposed method is simulated for different scenarios and an experimental validation is also presented. The experimental results show that is possible to estimate the robot position with an error bellow 20 cm using only three radars with well known position.
更多查看译文
关键词
Robot position,mmWave Radar,FMCW Radar and Cost Function
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络