lukas christensen. robosar hardware novelda impulse radar used to detect movement with high range...
TRANSCRIPT
Lukas Christensen
RoboSAR Hardware
• Novelda Impulse Radar used to detect movement with high range resolution
• Two servo pan-tilt system steers radar beam to perform scans
• Low angular resolution due to wide beam and scan speed
• Two-wheeled vehicle with stepper motors for fine movement control and high movement resolution
Movement Location
Motion Detection0°• Target – 1m• Wall – 3.25m
- 45°• Noise
RoboSAR’s Pursuit• Turn towards nearest
significant moving target and move up to it
• Constantly polls infrared sensors and bump sensor while moving forward
• If RoboSAR encounters an obstacle and can’t reach the target, remaining distance to the target is calculated
• Upon reaching the target or an obstacle, a short second scan is used to verify target’s presence and range
• RoboSAR will then around and begin scanning again
RoboSAR in DANGER!
• Need source code from the Norwegians• Alternative plan features stationary radar scanning a fixed area• RoboSAR will still carry out same pursuit behavior and return to a
home location near or under the radar