High-Resolution Millimeter- Wave Radar Systems for Visualization of Unstructured Outdoor Environments

摘要

This paper examines the use of millimeter-wave radar systems for visualization and navigation in unstructured outdoor environments. Three types of radar systems are described. The first is a long range, 94 GHz, frequency modulated interrupted continuous wave radar which is capable of producing two-dimensional (2D) reflectivity images to a range of more than 3 km. This is intended for use in long-range path planning. The second is a class of medium range 77 GHz frequency modulated continuous wave (FMCW) radar with two axis mirror scanners which is capable of producing high resolution three-dimensional (3D) imagery out to 500 m at a reasonably slow frame rate. The final class also operates using the FMCW principle, but at 94 GHz, to produce high resolution 2D and 3D images out to about 50 m at a much higher update rate. These shorter range sensors may be used to determine the traversability of the local terrain. The outputs produced by the different classes of radar are examined and the paper considers their advantages when compared to other sensors such as vision and scanning laser. Using radar images, the final section compiles rules for interpreting radar reflectivity images from a path-planning perspective.