A Method for Navigation System of Security Robot based on Millimeter Wave

The complexity of their working environment increases along with the expansion of the application field of security robots. Navigation system with the style of visual and laser are no longer applicable in special environments such as smoke, dust, and darkness. To solve this problem, based on the research on the principle of detecting distance with millimeter-wave radar, a multi-stage canceller is designed to reject the static clutter in the indoor environment, and then a dynamic threshold detector is designed to stabilize the detection performance of the radar according to the changing noise environment in the indoor environment. Finally, a millimeter wave navigation scheme based on principle of triangulation is proposed. Experimental results show that the robot can run along a set route. The x-axis error is about 0.09 m, the y-axis error is about 0.08 m, and the positioning error is about 0.12 m. Therefore, based on this method, the robot can run autonomously in dark and smoke environment.