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dc.contributor.authorLuna Aguilar, Christian Alejandro
dc.contributor.authorMorales Diaz, América
dc.contributor.authorCastelán, Mario
dc.contributor.authorNadeu Camprubí, Climent
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Teoria del Senyal i Comunicacions
dc.date.accessioned2019-03-14T14:49:04Z
dc.date.available2020-01-01T01:25:32Z
dc.date.issued2019-01-17
dc.identifier.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.
dc.identifier.issn0169-1864
dc.identifier.urihttp://hdl.handle.net/2117/130465
dc.description.abstractThis 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.
dc.description.uriThis is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 01/01/2019, available online: http://www.tandfonline.com/10.1080/01691864.2019.1573703.”
dc.format.extent13 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Radiocomunicació i exploració electromagnètica::Teledetecció
dc.subject.lcshRobotics
dc.subject.lcshDetectors
dc.subject.otherAcoustic localization
dc.subject.otherRegulation control
dc.subject.otherNavigation map
dc.titleIncorporation of acoustic sensors in the regulation of a mobile robot
dc.typeArticle
dc.subject.lemacRobòtica
dc.subject.lemacDetectors
dc.contributor.groupUniversitat Politècnica de Catalunya. VEU - Grup de Tractament de la Parla
dc.identifier.doi10.1080/01691864.2019.1573703
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttps://www.tandfonline.com/doi/abs/10.1080/01691864.2019.1573703
dc.rights.accessOpen Access
local.identifier.drac23837913
dc.description.versionPostprint (author's final draft)
local.citation.authorLuna-Aguilar, C. A.; Morales-Diaz, A.; Castelán, M.; Nadeu, C.
local.citation.publicationNameAdvanced robotics
local.citation.volume33
local.citation.number2
local.citation.startingPage61
local.citation.endingPage73


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