A Grid Mapping Algorithm Utilizing Limited Bandwidth Millimeter-Wave Radar

In this paper, we propose a grid map construction algorithm that utilizes limited bandwidth millimeter-wave (mmWave) radar to achieve high-precision environmental perception and mapping. We first employ mmWave radar to capture environmental data. By configuring the radar bandwidth, the radar's resolution is leveraged to update the grid map. Combining the Bresenham algorithm, we have achieved rapid and accurate modeling of the environment, resulting in the final grid map construction outcome. Subsequently, the angle of arrival (AOA) distribution in the environment is statistically analyzed and fitted, demonstrating the proposed method's effectiveness. Finally, a comparison with a baseline map reconstructed using LiDAR is performed. The algorithm's perception and reconstruction capabilities are evaluated using root mean square error (RMSE), Jaccard similarity, and code execution time.