Incorporation of acoustic sensors in the regulation of a mobile robot |
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| Authors: | C A Luna-Aguilar A B Morales-Díaz C Nadeu |
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| Affiliation: | 1. Robotics and Advanced Manufacturing Group, Centro de Investigacio ì n y de Estudios Avanzados del IPN, Saltillo, Mexico;2. Center for Language and Speech Technologies and Applications, Technical University of Catalunya, Barcelona, Spain |
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| Abstract: | This article introduces the incorporation of acoustic sensors for the localization of a mobile robot. The robot is considered as a sound source and its position is located applying a Time Delay of Arrival (TDOA) method. Since the accuracy of this method varies with the microphone array, a navigation acoustic map that indicates the location errors is built. This map also provides the robot with navigation trajectories point-to-point and the control is capable to drive the robot through these trajectories to a desired configuration. The proposed localization method is thoroughly tested using both a 900?Hz square signal and the natural sound of the robot, which is driven near the desired point with an average error of 0.067?m. |
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| Keywords: | Acoustic localization regulation control navigation map |
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