Development of a Novel Safety System for Remote Plant Nursing Robots

Abstract-In order to find a system that can localize the operator of a large remote controlled vehicle, the combination of the ESPAR antenna and the MUSIC algorithm is tested. The ESPAR antenna is a single port compact antenna that can be used for beam forming or as in this case for angle of arrival estimation. The basic principle behind the antenna is explained. The modified MUSIC algorithm is also explained. To test the performance of the system simulations were made. The simulations showed it to be possible to achieve accuracy less than 1 degree. It is concluded that the system is suitable for localizing the operator and improve safety when working around large remote controlled vehicles.