Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Robots, crickets and ants: models of neural control of chemotaxis and phonotaxis
Neural Networks - Special issue on neural control and robotics: biology and technology
Robot Motion Planning
Sound and Visual Tracking for Humanoid Robot
Applied Intelligence
A Sound Source Tracking System Based on Robot Hearing and Vision
CSSE '08 Proceedings of the 2008 International Conference on Computer Science and Software Engineering - Volume 01
Implementation and calibration of a Bayesian binaural system for 3D localisation
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Reactive path deformation for nonholonomic mobile robots
IEEE Transactions on Robotics
A convergent dynamic window approach to obstacle avoidance
IEEE Transactions on Robotics
Obstacle avoidance in a dynamic environment: a collision cone approach
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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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.