Abstract
This paper proposes fuzzy gain scheduling of proportional differential control (FGS-PD) system for tracking mobile robot to moving sound sources. Given that the target positions of the real-time moving sound sources are dynamic, the mobile robots should be able to estimate the target points continuously. In such a case, the robots tend to slip owing to abnormal velocities and abrupt changes in the tracking path. The selection of an appropriate curvature along which the robot follows a sound source makes it possible to ensure that the robot reaches the target sound source precisely. For enabling the robot to recognize the sound sources in real time, three microphones are arranged in a straight formation. In addition, by applying the cross correlation algorithm to the time delay of arrival base, the received signals can be analyzed for estimating the relative positions and velocities of the mobile robot and the sound source. Even if the mobile robot is navigating along a curved path for tracking the sound source, there could be errors due to the inertial and centrifugal forces resulting from the motion of the mobile robot. Velocities of both robot wheels are controlled using FGS-PD control to compensate for slippage and to minimize tracking errors. For experimentally verifying the efficacy of the proposed the control system with sound source estimation, two mobile robots were fabricated. It was demonstrated that the proposed control method effectively reduces the tracking error of a mobile robot following a sound source.
Highlights
Introduced robots can be classified into the manipulator-type that carry out tasks in specific spaces with a certain level of freedom and the mobile-type that move freely in space
A microphone array was used on a mobile robot for estimating the relative position and velocity of sound sources moving in real time
The tracking control was designed in real time to ensure the generation of a larger curvature path for the mobile robot so as to prevent slippage resulting from rapid changes in the moving path
Summary
Introduced robots can be classified into the manipulator-type that carry out tasks in specific spaces with a certain level of freedom and the mobile-type that move freely in space. Mobile robots with vehicle-type wheels have two parallel operating wheels and an auxiliary wheel supporting the robot body. By using the velocity ratio of the two operating wheels, it is possible to navigate a mobile robot freely on either a circular or a curved path. Owing to the convenience and transplantation of robot production, many academic studies have been carried out [1,2,3,4,5]. The topics of studies on mobile robots with vehicle-type wheels include self-location estimation, path establishment, video-image and sound-source base control, path estimation, and object tracking
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