Cognitive Radar System for Obstacle Avoidance Using In-Motion Memory-Aided Mapping

Abstract

The paper introduces a radar signal processing method for goal-oriented, collision-free navigation in mobile robotic platforms. The derived algorithm creates an enhanced perception of the area in front of the sensor through accumulating a sequence of radar pulses that is constantly updated, and uses previously obtained perception to inform future robot steering actions on the fly, thus creating a form of working memory. The algorithm is analytically described, and experimentally confirmed in laboratory conditions with a ground mobile robot operating in real-time.