Perception of the environment with a low cost radar sensor

摘要

A perception system is presented as part of a research program currently underway at Cemagref. This is based on frequency modulated (FM-CW) radar and is intended for applications in mobile outdoor robotics, such as positioning an agricultural machine to reduce the impact of spreading practices on the environment. The radar sensor that has been developed transmits on the X-waveband and covers a 300 metres range. The modulation frequency technique is particularly well adapted for short range use and requires a low power output. Distance measurements were performed on trihedral reflectors under real climatic conditions. They show that the spectral analysis methods used to process the radar signal provide an accuracy of about a few centimetres. The panoramic radar mode described demonstrates the system's capacities in environment perception.