Mobile robot and sound localization

Author

Huang, Jie ; Supaongprapa, Tadawute ; Terakura, Ikutaka ; Ohnishi, Noboru ; Sugie, Noboru

Author_Institution

RIKEN, Inst. of Phys. & Chem. Res., Saitama, Japan

Volume

2

fYear

1997

fDate

7-11 Sep 1997

Firstpage

683

Abstract

This paper describes a mobile robot equipped with a real time sound localization system as well as a sonar system for obstacle detection. The sound localization method is based on a model of the precedence effect of the human auditory system to cope with echoes and reverberations. The sound localization and robot navigation experiments were conducted. The results show that the robot is capable of localizing sounding objects in a reverberant environment and approaching the objects without collisions, even when the objects were behind obstacles. Environment flexibility and error robustness of the system were discussed as well

Keywords

echo; mobile robots; navigation; path planning; real-time systems; reverberation; sonar; sonar signal processing; echoes; mobile robot; navigation; obstacle avoidance; obstacle detection; precedence effect; real time systems; reverberations; robot auditory system; sonar system; sound localization; Acoustic sensors; Acoustical engineering; Auditory system; Cameras; Chemical technology; Humans; Mobile robots; Real time systems; Robot sensing systems; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.655085

Filename

655085