Incorporation of acoustic sensors in the regulation of a mobile robot. (17th January 2019)

• Record Type: Journal Article
• Authors: Luna-Aguilar, C. A.; Morales-Díaz, A. B.; Castelán, M.; Nadeu, C.
• Is Part Of: Advanced robotics. Volume 33:Number 2(2019)
• Page Start: 61
• Page End: 73
• Publication Date: 2019-01-17
• Subjects: Acoustic localization -- regulation control -- navigation map; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2019.1573703
• Languages: English
• ISSNs: 0169-1864

Abstract

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. GRAPHICAL ABSTRACT: