A Phased Array Antenna System of a Millimeter-wave FMCW Radar for Blind Spot Detection of Mobile Robots

Year 2022, Volume: 26 Issue: 6, 1253 - 1261, 31.12.2022

Hüseyin Şerif Savcı

https://doi.org/10.16984/saufenbilder.1131504

Abstract

Mobile robots have been extensively used in manufacturing plants for inter-logistic transportation in recent years. This paper covers a phased array antenna design for a millimeter wave radar system to improve lidar-based navigation systems' safety and environmental consciousness. The K-band phased array antenna, when integrated with 24 GHz Frequency-Modulated-Continuous-Wave (FMCW) radar, not only enhances the accuracy of the 2-D Area Scanning lidar system but also helps with the safe operation of the vehicle. The safety improvement is made by covering blind spots to mitigate collision risks during the rotations. The paper first reviews the system-level details of the 2D lidar sensor and shows the blind spots when integrated into a Mobile Robot prototype. Then continues with the inclusion of an FMCW Low-Speed Ramp radar system and discusses the design details of the proposed K-band antenna array, which will be integrated with a radar sensor.

Keywords

Mobile robots, lidar, FMCW radar, blind-spot detection, natural navigation, planar antenna array

References

• [1] M. Karamuk, I. H. Savci, H. Ocaklı, "A Survey on Traction System Development of Automated Guided Vehicles," European Journal of Technique, vol. 12, no. 1, pp. 1-12, Jun. 2022.
• [2] I. H. Savci, A. Yilmaz, S. Karaman, H. Ocakli, H. Temeltas, "Improving Navigation Stack of a ROS-Enabled Industrial Autonomous Mobile Robot (AMR) to be Incorporated in a Large-Scale Automotive Production," The International Journal of Advanced Manufacturing Technology, vol. 120, pp. 3647–3668, Mar. 2022.
• [3] M. Qi, X. Li, X. Yan, C. Zhang, "On the evaluation of AGVS-based warehouse operation performance," Simulation Modelling Practice and Theory, vol. 87, pp. 379-394, Sep. 2018.
• [4] A. Vale, R. Ventura, R. Lopes, I. Ribeiro, "Assessment of navigation technologies for automated guided vehicle in nuclear fusion facilities," Robotics and Autonomous Systems, vol. 97, pp. 153-170, 2017.
• [5] G. Bocewicz, Z. Banaszak, I. Nielsen, W. Muszynski, "Re-scheduling of AGVs steady-state flow," IFAC-Papers On-Line, vol. 50 no. 1, pp. 3493-3498, Jul. 2017.
• [6] H. Balaji, S. Shaikh, A. Phalke S. Jadhav, "Design and methodology of automated guided vehicle - a review," IOSR Journal of Mechanical and Civil Engineering, vol. 1, pp. 29-35, May 2022.
• [7] S. Quan, J. Chen, "AGV Localization Based on Odometry and LiDAR," 2nd World Conference on Mechanical Engineering and Intelligent Manufacturing, pp. 483-486, Nov. 2019.
• [8] A. Rangesh, M. M. Trivedi, "No blind spots: full-surround multi-object tracking for autonomous vehicles using cameras and lidars," IEEE Transactions on Intelligent Vehicles, vol. 4, no.4, pp. 588-599, Dec. 2019.
• [9] R. P. Mahapatra, S. V. Kumar, G. Khurana, R. Mahajan, "Ultrasonic sensor-based blind spot accident prevention system," International Conference on Advanced Computer Theory and Engineering, pp. 992-995, Dec. 2008.
• [10] S. Lee, H. Wang, "Navigation of automated guided vehicles using magnet spot guidance method," Robotics and Computer Integrated Manufacturing, vol. 28, no. 3, pp. 425-436, Jun. 2012.
• [11] G. Liu, L. Wang, S. Zou, "Radar-based blind spot detection and warning system for driver assistance," IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, pp. 2204-2208, Mar. 2017.
• [12] Y. Shen, W. Q. Yan, "Blind spot monitoring using deep learning," International Conference on Image and Vision Computing New Zealand, Auckland, pp. 1-5, Nov. 2018.
• [13] A. Hiçdurmaz, A. Tuncer, "Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots," Sakarya University Journal of Science, vol. 24, no. 5, pp. 845-853, Oct. 2020.
• [14] J. Verhaevert, "Detection of vulnerable road users in blind spots through Bluetooth low energy," Progress in Electromagnetics Research Symposium - Spring (PIERS), pp. 227-231, May. 2017.
• [15] D. Saunders, S. Bingham, G. Menon, D. Crockett, J. Tor, R. Mende, M. Behrens, N. Jain, A. Alexanian, Rajanish, "A single-chip 24 GHz SiGe BiCMOS transceiver for low cost FMCW airborne radars," Proceedings of the IEEE 2009 National Aerospace & Electronics Conference, pp. 244-247, Jul. 2009.
• [16] T. Milligan, Modern Antenna Design, Wiley-IEEE Press, New Jersey, 2005.
• [17] A. Elsherbeni, P. Nayari, C.J. Reddy, Antenna Analysis and Design Using FEKO Electromagnetic Simulation Software, SciTech Publishing, New Jersey, 2014.