Lukas Christensen

RoboSAR Hardware Novelda Impulse Radar used to detect movement with high range resolution Novelda Impulse Radar used to detect movement with high range resolution Two servo pan-tilt system steers radar beam to perform scans Two servo pan-tilt system steers radar beam to perform scans Low angular resolution due to wide beam and scan speed Low angular resolution due to wide beam and scan speed Two-wheeled vehicle with stepper motors for fine movement control and high movement resolution Two-wheeled vehicle with stepper motors for fine movement control and high movement resolution

Movement Location

Motion Detection 0° Target – 1m Target – 1m Wall – 3.25m Wall – 3.25m - 45° Noise Noise

RoboSAR’s Pursuit Turn towards nearest significant moving target and move up to it Turn towards nearest significant moving target and move up to it Constantly polls infrared sensors and bump sensor while moving forward Constantly polls infrared sensors and bump sensor while moving forward If RoboSAR encounters an obstacle and can’t reach the target, remaining distance to the target is calculated If RoboSAR encounters an obstacle and can’t reach the target, remaining distance to the target is calculated Upon reaching the target or an obstacle, a short second scan is used to verify target’s presence and range Upon reaching the target or an obstacle, a short second scan is used to verify target’s presence and range RoboSAR will then around and begin scanning again RoboSAR will then around and begin scanning again

RoboSAR in DANGER! Need source code from the Norwegians Need source code from the Norwegians Alternative plan features stationary radar scanning a fixed area Alternative plan features stationary radar scanning a fixed area RoboSAR will still carry out same pursuit behavior and return to a home location near or under the radar RoboSAR will still carry out same pursuit behavior and return to a home location near or under the radar