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Proceedings Paper

Daredevil: ultra-wideband radar sensing for small UGVs
Author(s): Brian Yamauchi
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Paper Abstract

We are developing an ultra wideband (UWB) radar sensor payload for the man-portable iRobot PackBot UGV. Our goal is to develop a sensor array that will allow the PackBot to navigate autonomously through foliage (such as tall grass) while avoiding obstacles and building a map of the terrain. We plan to use UWB radars in conjunction with other sensors such as LIDAR and vision. We propose an algorithm for using polarimetric (dual-polarization) radar arrays to classify radar returns as either vertically-aligned foliage or solid objects based on their differential reflectivity, a function of their aspect ratio. We have conducted preliminary experiments to measure the ability of UWB radars to detect solid objects through foliage. Our initial results indicate that UWB radars are very effective at penetrating sparse foliage, but less effective at penetrating dense foliage.

Paper Details

Date Published: 2 May 2007
PDF: 9 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 65610B (2 May 2007); doi: 10.1117/12.720033
Show Author Affiliations
Brian Yamauchi, iRobot Corp. (United States)


Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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