113 Sound Source Tracking Control of Mobile Robot Using Sound Signal Feedback

SUMMARYSound source tracking is an important function for autonomous robots, because sound is omni-directional and can be recognized in dark environment. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We consider a general type of two-wheeled mobile robot that has wide industrial applications. Because obstacle avoidance is also an indispensable function for autonomous mobile robots, the robot is equipped with distance sensors to detect obstacles in real time. To deal with the robot's nonholonomic constraint and combine information from the auditory and distance sensors, we propose a model reference control approach in which the robot follows a desired trajectory generated by a reference model. The effectiveness of the proposed method is confirmed by experiments in which the robot is expected to approach a sound source while avoiding obstacles.

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Sound source localization based on audio-video system of mobile robot

Journal of Computer Applications ◽

10.3724/sp.j.1087.2009.02471 ◽

2009 ◽

Vol 29 (9) ◽

pp. 2471-2472

Author(s):

Tao CHEN ◽

Ming-lu ZHANG ◽

Ling-li FU

Keyword(s):

Mobile Robot ◽

Source Localization ◽

Sound Source ◽

Sound Source Localization ◽

Video System ◽

Audio Video

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Sound Localization for Ad-Hoc Microphone Arrays

Energies ◽

10.3390/en14123446 ◽

2021 ◽

Vol 14 (12) ◽

pp. 3446

Author(s):

Muhammad Usman Liaquat ◽

Hafiz Suliman Munawar ◽

Amna Rahman ◽

Zakria Qadir ◽

Abbas Z. Kouzani ◽

...

Keyword(s):

Sound Localization ◽

Sound Source ◽

Ad Hoc ◽

Dimensional Space ◽

Computation Time ◽

Location Estimation ◽

Microphone Arrays ◽

Sound Signal ◽

Experimental Arrangement ◽

Advantages And Disadvantages

Sound localization is a field of signal processing that deals with identifying the origin of a detected sound signal. This involves determining the direction and distance of the source of the sound. Some useful applications of this phenomenon exists in speech enhancement, communication, radars and in the medical field as well. The experimental arrangement requires the use of microphone arrays which record the sound signal. Some methods involve using ad-hoc arrays of microphones because of their demonstrated advantages over other arrays. In this research project, the existing sound localization methods have been explored to analyze the advantages and disadvantages of each method. A novel sound localization routine has been formulated which uses both the direction of arrival (DOA) of the sound signal along with the location estimation in three-dimensional space to precisely locate a sound source. The experimental arrangement consists of four microphones and a single sound source. Previously, sound source has been localized using six or more microphones. The precision of sound localization has been demonstrated to increase with the use of more microphones. In this research, however, we minimized the use of microphones to reduce the complexity of the algorithm and the computation time as well. The method results in novelty in the field of sound source localization by using less resources and providing results that are at par with the more complex methods requiring more microphones and additional tools to locate the sound source. The average accuracy of the system is found to be 96.77% with an error factor of 3.8%.

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A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

Journal of Vibration and Control ◽

10.1177/1077546321999185 ◽

2021 ◽

pp. 107754632199918

Author(s):

Rongrong Yu ◽

Shuhui Ding ◽

Heqiang Tian ◽

Ye-Hwa Chen

Keyword(s):

Mobile Robot ◽

Dynamic Modeling ◽

Trajectory Tracking ◽

Tracking Control ◽

Wheeled Mobile Robot ◽

Structural Constraints ◽

Control Force ◽

Trajectory Tracking Control ◽

Motion Constraints ◽

Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

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