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Texas Instruments The Future of Robotics | 19 Table 12: Using the IWR1443BOOST EVM occupancy map for autonomous navigation of a Turtlebot 2 with the ROS move_base library Learn More Learn More IWR1443 Single-chip 76-81GHz mmWave Sensors IWR6843ISK-ODS mmWave Sensor Evaluation Module mmWave can detect glass walls, partitions and furnishings where light- based sensing solutions could fail. " " Conclusion mmWave sensors were initially expensive and large in size, and required multiple discrete components. Now, however, driven by TI's integration of RF, processing and memory resources onto a single monolithic CMOS die, it is now realistic to say that mmWave sensors will complement or displace established sensing technologies in robotics.. To summarize, here are the advantages of mmWave sensors vs. other technologies: • mmWave sensors are not sensitive to environmental conditions such as direct sunlight, shadows or light reflections off of water. • mmWave can detect glass walls, partitions and furnishings where light-based sensing solutions could fail. • mmWave provides Doppler velocity information on objects, and as such can help augment robot odometry in case of wheel slippage on wet surfaces. • mmWave-based sensors are less mechanically complex, and thus reduce manufacturing alignment and error- calibration processes. Without apertures or lenses, they are mountable directly behind enclosure plastics. Integrated calibration means less in-line manufacturing complexity. Wide field-of-view possibilities eliminate the need for mechanical rotating sensor mechanisms. • TI's highly integrated single monolithic CMOS mmWave sensors enable all processing to occur within the sensor. This lowers bill of materials costs, makes for a small sensor and reduces the million instructions per second needed from the central controller processor vs. vision-based systems. mmWave sensor technology enhances the intelligent operation of robotics while increasing robustness in real-world environments. The application of this technology will further accelerate the rapid adoption of robotic systems. ■