Abstract
Navigation of Autonomous Guided Vehicles (AGVs) has traditionally been accomplished by means of fixed path navigation systems. The trend towards the use of such vehicles in unstructured external environments has led to a requirement for increasingly sophisticated sensory inputs. This paper describes the use of FM-CW radar for autonomous vehicle navigation and the development of a real time test platform for their evaluation. Experimental results have been processed off-line using Matlab to extract range information. Real time performance was achieved using a dual processor system comprising a Motorola 68000 single board computer for system control and supervision and a Texas Instruments Digital Signal Processor, TMS320C50, for performing 1024 point Fast Fourier Transformation to convert a digitised radar return signal into a frequency domain signal.
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