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… Click to show full 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
Journal Title: Advanced Robotics
Year Published: 2019
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