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Incorporation of acoustic sensors in the regulation of a mobile robot

Author
Luna-Aguilar, C. A.; Morales-Diaz, A.; Castelan, M.; Nadeu, C.
Type of activity
Journal article
Journal
Advanced robotics
Date of publication
2019-01-17
Volume
33
Number
2
First page
61
Last page
73
DOI
10.1080/01691864.2019.1573703
Project funding
Deep learning technologies for speech and audio processing
Repository
http://hdl.handle.net/2117/130465 Open in new window
URL
https://www.tandfonline.com/doi/abs/10.1080/01691864.2019.1573703 Open in new window
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 traj...
Citation
Luna-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.
Keywords
Acoustic localization, Navigation map, Regulation control
Group of research
IDEAI-UPC - Intelligent Data Science and Artificial Intelligence Research Center
TALP - Centre for Language and Speech Technologies and Applications
VEU - Speech Processing Group

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