An identified LPV model for mobile robots navigation with audio features

Non-speech audio is becoming more attractive to be used as features to mobile robots navigation in industrial environments. In this paper authors present their advances in determining robot´s position in indoor spaces using as sound sources industrial machines. A novel model is build to locate the robot under different spaces. An identification process is used to obtain the LPV model and it is validated using a real robot. Some uncertainties due to the robot motion and other factors have been taken into account when determining the robot´s position and the obtained results demonstrate the validity of the model.