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


Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi, vol.26, no.6, pp.1253-1261, 2022 (Peer-Reviewed Journal) identifier


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.