lukas christensen. robosar hardware novelda impulse radar used to detect movement with high range...

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