Scanning Techniques with Low Bandwidth Radar for Robotic Mapping and Localization

  • Paul Fritsche
  • Bernardo Wagner
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 383)


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.


FMCW radar Lateration ASR Robotic mapping SLAM 



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


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.RTS, Leibniz Universität HannoverHannoverGermany

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