Environmental Mapping and Moving Object Detection Using Only an FMCW Radar on a Rotating Platform
Navez, Tom
Promoteur(s) : Sacré, Pierre
Date de soutenance : 24-jui-2024/25-jui-2024 • URL permanente : http://hdl.handle.net/2268.2/20406
Détails
Titre : | Environmental Mapping and Moving Object Detection Using Only an FMCW Radar on a Rotating Platform |
Titre traduit : | [fr] Cartographie de l'environnement et détection d'objets en mouvement uniquement à l'aide d'un radar FMCW sur une plate-forme rotative |
Auteur : | Navez, Tom |
Date de soutenance : | 24-jui-2024/25-jui-2024 |
Promoteur(s) : | Sacré, Pierre |
Membre(s) du jury : | Veriter, Antoine
Geuzaine, Christophe |
Langue : | Anglais |
Nombre de pages : | 77 |
Mots-clés : | [en] FMCW [en] Radar [en] Rotational radar [en] Environmental mapping [en] Object detection |
Discipline(s) : | Ingénierie, informatique & technologie > Ingénierie électrique & électronique |
Institution(s) : | Université de Liège, Liège, Belgique |
Diplôme : | Master : ingénieur civil électricien, à finalité spécialisée en Neuromorphic Engineering |
Faculté : | Mémoires de la Faculté des Sciences appliquées |
Résumé
[en] Nowadays, automation is increasingly introduced in industry and work environments. One vector of automation in warehouses, factories and ports is automatic guided vehicles (AGV). Nonetheless, their capabilities are limited in exterior environments due to their guidance systems being defeated by non- optimal weather.
This thesis explores the use of a Frequency-Modulated Continuous-Wave (FMCW) radar sensor as an alternative to the current Lidar sensor in the guidance system. The objective is to place the sensor on rotating platform and reconstructing the environment solely based on the radar detections.
Static and moving environment were studied. The FMCW radar’s capability to measure velocity made it possible to achieve both following intermediate steps: detecting moving targets in static envi- ronment and trajectory estimation for moving environments.
The FMCW sensor on the rotating platform succeeded at both tasks evaluated: environmental mapping and trajectory estimation. While the quality of the results is insufficient for completely replacing the Lidar sensor, it is more than adequate to consider a combination of the two. This com- bination could extend AGV capabilities in exterior environments, with the radar backing the Lidar.
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