Acoustic robot navigation using distributed microphone arrays

Qing Hua Wang; Teodor Ivanov; Parham Aarabi

doi:10.1016/j.inffus.2003.10.002

Acoustic robot navigation using distributed microphone arrays

Qing Hua Wang, Teodor Ivanov, Parham Aarabi

Research output: Contribution to journal › Article › peer-review

56 Scopus citations

Abstract

This paper presents a method for the navigation of a mobile robot using sound localization in the context of a robotic lab tour guide. Sound localization, which is achieved using an array of 24 microphones distributed on two walls of the lab, is performed whenever the robot speaks as part of the tour. The SRP-PHAT sound localization algorithm is used to estimate the current location of the robot using approximately 2 s of recorded signal. Navigation is achieved using several stops during which the estimated location of the robot is used to make course adjustments. Experiments using the acoustic robot navigation system illustrate the accuracy of the proposed technique, which resulted in an average localization error of about 7 cm close to the array and 30 cm far away from the array.

Original language	English (US)
Pages (from-to)	131-140
Number of pages	10
Journal	Information Fusion
Volume	5
Issue number	2
DOIs	https://doi.org/10.1016/j.inffus.2003.10.002
State	Published - Jun 1 2004
Externally published	Yes

Keywords

Microphone arrays
Robot navigation
Sound localization

ASJC Scopus subject areas

Software
Signal Processing
Information Systems
Hardware and Architecture

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10.1016/j.inffus.2003.10.002

Cite this

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title = "Acoustic robot navigation using distributed microphone arrays",

abstract = "This paper presents a method for the navigation of a mobile robot using sound localization in the context of a robotic lab tour guide. Sound localization, which is achieved using an array of 24 microphones distributed on two walls of the lab, is performed whenever the robot speaks as part of the tour. The SRP-PHAT sound localization algorithm is used to estimate the current location of the robot using approximately 2 s of recorded signal. Navigation is achieved using several stops during which the estimated location of the robot is used to make course adjustments. Experiments using the acoustic robot navigation system illustrate the accuracy of the proposed technique, which resulted in an average localization error of about 7 cm close to the array and 30 cm far away from the array.",

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AU - Wang, Qing Hua

AU - Ivanov, Teodor

AU - Aarabi, Parham

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N2 - This paper presents a method for the navigation of a mobile robot using sound localization in the context of a robotic lab tour guide. Sound localization, which is achieved using an array of 24 microphones distributed on two walls of the lab, is performed whenever the robot speaks as part of the tour. The SRP-PHAT sound localization algorithm is used to estimate the current location of the robot using approximately 2 s of recorded signal. Navigation is achieved using several stops during which the estimated location of the robot is used to make course adjustments. Experiments using the acoustic robot navigation system illustrate the accuracy of the proposed technique, which resulted in an average localization error of about 7 cm close to the array and 30 cm far away from the array.

AB - This paper presents a method for the navigation of a mobile robot using sound localization in the context of a robotic lab tour guide. Sound localization, which is achieved using an array of 24 microphones distributed on two walls of the lab, is performed whenever the robot speaks as part of the tour. The SRP-PHAT sound localization algorithm is used to estimate the current location of the robot using approximately 2 s of recorded signal. Navigation is achieved using several stops during which the estimated location of the robot is used to make course adjustments. Experiments using the acoustic robot navigation system illustrate the accuracy of the proposed technique, which resulted in an average localization error of about 7 cm close to the array and 30 cm far away from the array.

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KW - Sound localization

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Acoustic robot navigation using distributed microphone arrays

Abstract

Keywords

ASJC Scopus subject areas

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