An experimental testbed for sound source localization with mobile robots using optimized wideband beamformers

This paper addresses the problem of practically implementing an original sound source localization strategy for mobile robots applications. The proposed method is based on a convex optimization solution to beamforming. It allows the sensing of signals within a direction of arrival and frequency domain of interest while rejecting other data. A precise description of the acquisition chain is proposed and a careful mathematical modeling is given in order to bridge the gap between theory and practical implementation. Simulation results and comparisons with classical filter-sum beamformer techniques are provided at the end of the paper to illustrate the performance of the sensor.