Robot localization method by acoustical signal identification

Authors:
Manuel Manzanares;Edmundo Guerra;Yolanda Bolea;Antoni Grau
Affiliations:
Automatic Control Dept, Technical Univ. of Catalonia, UPC;Automatic Control Dept, Technical Univ. of Catalonia, UPC;Automatic Control Dept, Technical Univ. of Catalonia, UPC;Automatic Control Dept, Technical Univ. of Catalonia, UPC
Venue:
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Year:
2009

Citing 4
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Abstract

Non-speech audio is a non-explored characteristic in robot localization but due to its potentiality it can yield a valuable information together with other sensorial systems. In this work, a novel robot localization method is proposed based on audio signal pattern recognition with extracted features from signal identification. To reinforce the localization, avoiding ambiguity and reducing uncertainty, a sensorial system is used aboard the robot to compute the angle between itself and the sound source. This method can be generalized to any non-speech sound signal because the acoustical meaning and the room geometry are related.