Robot Self Position based on Asynchronous Millimetre Wave Radar Interference

This paper proposes a method that can be used in robots equipped with millimeter wave (mmWave) radars to estimate its position. The method takes advantage of the interference produced by other radars located in the same environment with well known position. Additionally, to compute the robot position it is used only the Angle-of-Arrival (AoA) of each radar interference. The robot position is estimated by the minimization of a cost function presenting a simple expression with low computational complexity. The performance of the proposed method is simulated for different scenarios and an experimental validation is also presented. The experimental results show that is possible to estimate the robot position with an error bellow 20 cm using only three radars with well known position.