Acoustic localization for mobile robots

Authors

  • Rolando R. Henríquez University of Pinar del Río, Department of Telecommunications and Electronics
  • Antonio Paulo G. M. Moreira University of Porto, Faculty of Engineering
  • Paulo J. C. G. da Costa University of Porto, Faculty of Engineering

Keywords:

Mobile robot, Sound location, Acoustic localization

Abstract

There are many techniques used by a human to estimate the location of a sound source. One of then is based on the phase difference on each ear due to a longer path taken by the acoustic wave to reach the farthest ear. That technique can be reproduced on a mobile robot equipped with two microphones and modest processing power to apply the proposed algorithm. It is shown that with two frequencies the angle in the horizontal plane of the sound source can be estimated even under heavy noise levels. That can contribute to the relative localization of multiple mobile robots.

References

Downloads

Published

2002-01-01

Issue

Vol. 3 No. 6 (2002)

Section

Session 3 - Navigation