Abstract

Off-road positive and negative obstacle detection is a challenge problem to be solved by unmanned ground vehicle. Traditional sensors, such as: optical camera, lidar and millimeter wave radar, have limited performance in off-road environments, especially when obstacles are far away or covered by sparse grasses. We have proposed a forward-looking InSAR sensor to tackle the problem and have built a rail-based InSAR prototype. The forward-looking InSAR can provide more information of harsh off-road environments than existing unmanned ground vehicle (UGV) based radars. The forward-looking InSAR can provide a scattering image, a coherence image and a digital terrain model (DTM) of the same scene ahead the radar during each scan. Each type of image can highlight some unique features of an obstacle.

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