Study On Robot Obstacle Avoidance And Navigation Technology Based On Millimeter-wave Sensors

With the rapid development of artificial intelligence science and robot science,mobile robot obstacle avoidance and navigation methods have received extensive attention from academia and industry.The premise of achieving obstacle avoidance and navigation is to use various sensors to accurately obtain a large amount of environmental information.Among them,the millimeter wave sensor based on the principle of radar detection has unique advantages in environmental perception.Thanks to the physical characteristics of millimeter wave electromagnetic waves,millimeter wave sensors can achieve high-precision distance,speed,angle measurement,and target tracking,recognition,and classification;they can work in darkness,strong light,rain,snow,In case of failure of visual,infrared or laser detection of smog,smoke,specular reflection,etc.Therefore,the research and improvement of millimeter wave sensors and their applications in the field of mobile robots have a broad exploration space.Combined with the actual engineering,this article discusses,explores and studies the following contents:(1)Understand the latest development of millimeter wave sensing technology at home and abroad;learn and master the principles of ranging,velocity and angle measurement under the conditions of three typical radar waveforms;through theory to practice,this paper finally uses the Fast Chirp method Sawtooth waveform modulation describes the process of radar signal processing based on this modulation waveform and the process of establishing MIMO radar data cube.(2)The key steps and algorithms for the detection of millimeter wave sensors are studied: the acquisition method of target distance,speed and angle information,windowing,constant false alarm detection and DBSCAN clustering algorithm.The spectral characteristics of four common window functions are analyzed and compared,the principle of the mean constant false alarm algorithm is explained,and an improved constant false alarm detection method is proposed,and the principle of the DBSCAN clustering algorithm is analyzed.(3)Research and give the data transmission,establishment and processing flow of the MIMO system millimeter wave radar;study the data buffering method using the PingPong method,and analyze the processing and storage of the echo signal based on the timing method And description.(4)Using Gazebo virtual environment and robot operating system,a three-dimensional simulation of obstacle avoidance and navigation based on millimeter wave sensors of mobile robots is performed,and the role and effect of millimeter wave sensors in obstacle avoidance and navigation are analyzed and summarized;The requirements of the robot for obstacle avoidance and navigation have tested the millimeter-wave radar sensor developed in the field environment,and analyzed and discussed the test results.In summary,this article studies the obstacle avoidance and navigation technology of robots based on millimeter wave sensors.In response to the functional requirements of mobile robots in terms of collision avoidance,obstacle avoidance and navigation,the feasibility and reliability of millimeter wave sensors have been initially verified.By adjusting and optimizing hardware algorithms,millimeter wave sensors can cope with more abundant and complex mobile robot working scenarios.