Incorporation of acoustic sensors in the regulation of a mobile robot
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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.
CitationLuna-Aguilar, C. A. [et al.]. Incorporation of acoustic sensors in the regulation of a mobile robot. "Advanced robotics", 17 Gener 2019, vol. 33, núm. 2, p. 61-73.
|AdvancedRobotics_accepted_Oct_18.pdf||C. A. Luna-Aguilar, A. Morales-Díaz, M. Castelán and C. Nadeu "Incorporation of acoustic sensors in the regulation of a mobile robot" Advanced Robotics, 33:2, 61-73, Jan 2019. https://doi.org/10.1080/01691864.2019.1573703||3,450Mb||View/