Abstract
A novel active virtual impedance algorithm is here proposed to help sound-following robots avoid obstacles while tracking a sound source. The tracking velocity of a mobile robot to a sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for relative distances and velocities. However, in this research, the coefficients are dynamically adjusted to extend the obstacle avoidance performance to multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source with respect to the mobile robot, which carries the microphone array. The effectiveness of the proposed algorithm is demonstrated by experiments.
Highlights
Sound source and speech recognition technologies have been developed and used with various techniques utilizing microphone array
The sound source was moving a velocity of mm/s, μ0 demonstrated in the sequence, the mobile robot successfully followed the sound sourceand while conventional virtual impedance algorithm was applied to this experiment, collisions occurred, as was set asthe
This paper proposed an active virtual impedance algorithm for obstacle avoidance and for following sound sources in real time using a mobile robot
Summary
Sound source and speech recognition technologies have been developed and used with various techniques utilizing microphone array. Due to the fact that sound location recognition technology is very weak and not stable enough to be applied to actual robots, most studies have been conducted with an emphasis on signal processing that analyzes specific signals Based on these studies, technology and equipment have been developed to recognize sound sources that are fairly stable. Sound localization recognition technology has been applied and studied with respect to robotic systems One of these areas is the application of mobile robots, and there is research on such robots moving and following markers to recognized locations, engaging in obstacle avoidance, etc. The location of the sound source has been estimated based on the TDOA (Time Difference of Arrival), and the virtual impedance algorithm has been applied to allow a mobile robot to follow a sound and avoid obstacles.
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