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Obstacle sensing using dechirp SAR

机译：使用dechirp SAR的障碍物感应

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Obstacle sensing is one of the most difficult problems in perception for unmanned ground vehicle (UGV) in outdoor environments. The regular obstacle sensors, such as stereo vision, infrared detectors and ladar, have their limited performance in unconstructed environments. In this paper, we used an ultra wideband synthetic aperture radar (SAR) to sense obstacle for UGV. The dechirp method was applied to SAR imaging to reduce the high sample rate and the system storage capacity. The ultra-wideband SAR echo model was built, and the dechirp process was reviewed. Back projection (BP) was adopted to form the two-dimensional complex image. Finally, we have conducted a field experiment on a ground covered by sparse grasses to test the obstacle sensing performance of our ultra wideband SAR, and obstacles have shown special scattering properties in scattering image.
机译：障碍物感应是在室外环境中对无人地面车辆（UGV）的感知最困难的问题之一。常规障碍物传感器，如立体声视觉，红外探测器和LADAR，在无规格环境中具有它们的性能有限。在本文中，我们使用了超宽带合成孔径雷达（SAR）来检测UGV的障碍。将DecHirp方法应用于SAR成像，以降低高采样率和系统存储容量。构建了超宽带SAR echo模型，综述了Dechirp进程。采用后投影（BP）形成二维复杂图像。最后，我们在稀疏草地覆盖的地面上进行了一个现场实验，以测试我们的超宽带SAR的障碍物感测性能，障碍物在散射图像中显示出特殊的散射特性。

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