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