Title :
Estimating Doppler shift with a coarse cochlear filterbank
Author :
Carmena, Jose M. ; Hallam, John C T
Author_Institution :
Inst. of Perception, Action & Behaviour, Edinburgh Univ., UK
Abstract :
In this work, RoBat, a biomimetic sonarhead mounted on a mobile robot is presented as a platform in which to study perception in bats. After addressing the relation between bats and robots, a biologically plausible model of the bat´s cochlea is described. The model consists of a filterbank with an artificial neural network (ANN) connected at the end of it. The ANN is used for extracting the frequency of the received echoes. Thus, Doppler shifts, which play a fundamental role in bat navigation, can be successfully estimated. Experiments with simulated and real data show the efficiency of the system when used on a LEGO mobile robot
Keywords :
Doppler shift; biomimetics; filtering theory; mobile robots; navigation; neural nets; sonar signal processing; ANN; Doppler shift estimation; LEGO mobile robot; RoBat; artificial neural network; bat navigation; biologically plausible model; biomimetic sonarhead; cf-bats; coarse cochlear filterbank; mobile robot; perception; robot echolocation; Acoustic sensors; Biological system modeling; Doppler shift; Filter bank; Informatics; Intelligent sensors; Military computing; Mobile robots; Navigation; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894608
