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Sound source tracking considering obstacle avoidance for a mobile robot

Published online by Cambridge University Press:  18 January 2010

Naoki Uchiyama ,
Shigenori Sano  and
Akihiro Yamamoto
Naoki Uchiyama*
Affiliation:
Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan.
Shigenori Sano
Affiliation:
Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan.
Akihiro Yamamoto
Affiliation:
Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan.
*
*Correspending author. E-mail: uchiyama@mech.tut.ac.jp
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Summary

Sound 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.

Keywords

Sound source trackingObstacle avoidanceMobile robotModel reference control
Type
Article
Information
Robotica , Volume 28 , Issue 7 , December 2010 , pp. 1057 - 1064
Copyright
Copyright © Cambridge University Press 2010

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