Sound-Source Tracking and Obstacle Avoidance System for the Mobile Robot

  • Bo-Yeon Hwang
  • Sook-Hee Park
  • Jong-Ho Han
  • Min-Gyu Kim
  • Jang-Myung LeeEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 306)


In this paper, the study for the obstacle avoidance of the sound-source tracking mobile robot is introduced. By using the cross-correlation, it is possible to estimate the time difference for sound waves reaching more than two sound-source obtaining devices. Also, through the sound-source obtaining devices and carrying out the geometric interpretation, the location of each sound-source can be found. Based on the suggested application of the motion algorithm, when the mobile robot is in motion, it creates the virtual repulsive force with any obstacle, while applying the virtual attraction force with the reference point in order to avoid obstacles more smoothly and effectively.


Microphone array Tracking Obstacle avoidance Sound source 



“This research was supported by the MOTIE (The Ministry of Trade, Industry and Energy), Korea, under the Human Resources Development Program for Special Environment Navigation/Localization National Robotics Research Center support program supervised by the NIPA (National IT Industry Promotion Agency).” (H1502-13-1001). “This work was supported by the National Research Foundation of Korea (NRF) Grant funded by the Korean Government (MSIP) (NRF-2013R1A1A2021174)”.


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Bo-Yeon Hwang
    • 1
  • Sook-Hee Park
    • 1
  • Jong-Ho Han
    • 1
  • Min-Gyu Kim
    • 1
  • Jang-Myung Lee
    • 1
    Email author
  1. 1.Department of Electrical EngineeringPusan National UniversityBusanSouth Korea

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