For a complete list of publications of the Robotics and Advanced Manufacturing group, see: Publications RYMA
2019
Artículos de revista
Luna-Aguilar, Christian; Morales-Diaz, America; Castelan, Mario; Nadeu, Climent
Incorporation of acoustic sensors in the regulation of a mobile robot Artículo de revista
En: Advanced Robotics, vol. 33, no 2, pp. 61-73, 2019, ISSN: 0169-1864.
@article{{Luna-Aguilar}2019,
title = {Incorporation of acoustic sensors in the regulation of a mobile robot},
author = {Luna-Aguilar, Christian and Morales-Diaz, America and Castelan, Mario and Nadeu, Climent},
editor = {Taylor and Francis},
url = {https://doi.org/10.1080/01691864.2019.1573703},
doi = {10.1080/01691864.2019.1573703},
issn = {0169-1864},
year = {2019},
date = {2019-01-01},
journal = {Advanced Robotics},
volume = {33},
number = {2},
pages = {61-73},
abstract = {This article introduces the incorporation of acoustic sensors for the localization of a mobile robot. The robot is considered as a sound source and its position is located applying a Time Delay of Arrival (TDOA) method. Since the accuracy of this method varies with the microphone array, a naviga- tion acoustic map that indicates the location errors is built. This map also provides the robot with navigation trajectories point-to-point and the control is capable to drive the robot through these trajectories to a desired configuration. The proposed localization method is thoroughly tested using both a 900 Hz square signal and the natural sound of the robot, which is driven near the desired point with an average error of 0.067 m.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This article introduces the incorporation of acoustic sensors for the localization of a mobile robot. The robot is considered as a sound source and its position is located applying a Time Delay of Arrival (TDOA) method. Since the accuracy of this method varies with the microphone array, a naviga- tion acoustic map that indicates the location errors is built. This map also provides the robot with navigation trajectories point-to-point and the control is capable to drive the robot through these trajectories to a desired configuration. The proposed localization method is thoroughly tested using both a 900 Hz square signal and the natural sound of the robot, which is driven near the desired point with an average error of 0.067 m.
