Abstract
This study describes a cognitive radar architecture with application to real‐time obstacle avoidance in mobile robotic platforms. The concept of a world memory map is introduced as a means of providing an enhanced perception of the environment around the robotic platform. This is combined with a specially designed obstacle avoidance algorithm, Nearest Steering Vector Searching, all capable of operating in real‐time. The study analytically derives the radar signal processing algorithm, starting from range‐angle maps, so that a collision free course to a set destination point can be robustly navigated. Finally, the performance of this cognitive approach is examined through a number of proof‐of‐concept experiments using a commercial off‐the‐shelf radar mounted on a mobile ground robotic platform.
Original language | English |
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Pages (from-to) | 51-61 |
Number of pages | 11 |
Journal | IET Radar, Sonar and Navigation |
Volume | 15 |
Issue number | 1 |
Early online date | 11 Dec 2020 |
DOIs | |
Publication status | Published - Jan 2021 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering