Radar Reprojection Mapping Improves Obstacle Avoidance in Mobile Robots with an Unsteered Radar Sensor
Master's Thesis
Mobile indoor robots mostly rely on lidar and vision sensors to remotely detect obstacles in
their path. These sensors have trouble detecting some common real-world obstacles like
transparent surfaces and chair legs. Recent affordable near-range miniature radar sensors
enable new solutions.
This thesis introduces a simple solution for a radar sensor being moving through a static
environment without the need for beamforming or a mechanically scanning radar. The idea
is put to test in experiments with an Omniradar FMCW radar mounted on a Kobuki robot
platform. A comparison with lidar and RGBD sensors shows how promising the setup is for
mapping unstructured static environments.
- Digital PDF (PDF, double sided, with hyperlinks, 28.7MB)
- Print PDF (PDF, single sided, print-quality, 121MB)
- Slides (PDF, 4.59MB)