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Sensors 2013, 13(4), 4527-4552; doi:10.3390/s130404527
Article

Localization and Mapping Using Only a Rotating FMCW Radar Sensor

1,2
, 1,2,*  and 1,2
Received: 28 February 2013; in revised form: 27 March 2013 / Accepted: 3 April 2013 / Published: 8 April 2013
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Abstract: Rotating radar sensors are perception systems rarely used in mobile robotics. This paper is concerned with the use of a mobile ground-based panoramic radar sensor which is able to deliver both distance and velocity of multiple targets in its surrounding. The consequence of using such a sensor in high speed robotics is the appearance of both geometric and Doppler velocity distortions in the collected data. These effects are, in the majority of studies, ignored or considered as noise and then corrected based on proprioceptive sensors or localization systems. Our purpose is to study and use data distortion and Doppler effect as sources of information in order to estimate the vehicle’s displacement. The linear and angular velocities of the mobile robot are estimated by analyzing the distortion of the measurements provided by the panoramic Frequency Modulated Continuous Wave (FMCW) radar, called IMPALA. Without the use of any proprioceptive sensor, these estimates are then used to build the trajectory of the vehicle and the radar map of outdoor environments. In this paper, radar-only localization and mapping results are presented for a ground vehicle moving at high speed.
Keywords: radar sensor; localization; mapping; distortion; Doppler; odometry radar sensor; localization; mapping; distortion; Doppler; odometry
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Vivet, D.; Checchin, P.; Chapuis, R. Localization and Mapping Using Only a Rotating FMCW Radar Sensor. Sensors 2013, 13, 4527-4552.

AMA Style

Vivet D, Checchin P, Chapuis R. Localization and Mapping Using Only a Rotating FMCW Radar Sensor. Sensors. 2013; 13(4):4527-4552.

Chicago/Turabian Style

Vivet, Damien; Checchin, Paul; Chapuis, Roland. 2013. "Localization and Mapping Using Only a Rotating FMCW Radar Sensor." Sensors 13, no. 4: 4527-4552.



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