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Scanning Techniques with Low Bandwidth Radar for Robotic Mapping and Localization

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Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 383))

Abstract

This article presents two methods for setting up a scanning unit with low bandwidth radar sensors with a wide opening angle of the main beam and evaluates their suitability for robotic mapping. Both approaches, namely the lateration and the ASR technique, base upon a rotary joint and provide a two-dimensional scan. The relevant theory behind both methods and considerations on erroneous influences is described in the first part of this paper. The focus of the second part is laying on application in occupancy grid and feature mapping, which will be presented through experiments.

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Acknowledgments

This work has partly been supported within H2020-ICT by the European Commission under grant agreement number 645101 (SmokeBot).

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Authors and Affiliations

  1. RTS, Leibniz Universität Hannover, Appelstr. 9A, 30167, Hannover, Germany

    Paul Fritsche & Bernardo Wagner

Authors
  1. Paul Fritsche
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  2. Bernardo Wagner
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Corresponding author

Correspondence to Paul Fritsche .

Editor information

Editors and Affiliations

  1. Polytechnic Institute of Setúbal, Setubal, Portugal

    Joaquim Filipe

  2. Vitry sur Seine, France

    Kurosh Madani

  3. Ford Research & Adv. Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

  4. Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada

    Jurek Sasiadek

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Fritsche, P., Wagner, B. (2016). Scanning Techniques with Low Bandwidth Radar for Robotic Mapping and Localization. In: Filipe, J., Madani, K., Gusikhin, O., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Lecture Notes in Electrical Engineering, vol 383. Springer, Cham. https://doi.org/10.1007/978-3-319-31898-1_18

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  • DOI: https://doi.org/10.1007/978-3-319-31898-1_18

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31896-7

  • Online ISBN: 978-3-319-31898-1

  • eBook Packages: EngineeringEngineering (R0)

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