Description and experimental results of a panoramic K‐band radar dedicated to perception in mobile robotics applications

摘要

Abstract Robust environmental perception is a crucial parameter for the development of autonomous ground vehicle applications, especially in the field of agricultural robotics which is one of the priorities for the Horizon 2020 robotics funding (EU funding program for research and innovation). Because of uncontrolled and changing environmental conditions in outdoor and natural environments, data from optical sensors classically used in mobile robotics can be compromised and unusable. In such situations, microwave radar can provide an alternative and complementary solution for perception tasks. The aim of this paper is to present PELICAN radar, a microwave radar specifically designed for mobile robotics applications, including obstacle detection, mapping, and situational awareness in general. PELICAN radar provides each second a view over 360° of the surrounding environment, from 5 m up to 100 m. A description of the technological solutions adopted for the development of PELICAN radar (hardware and software) is presented. Results obtained in various outdoor and open environments, including urban and natural areas, are also described. Sets of PELICAN radar data are made available online for researchers interested in processing this type of data.