This paper describes an experimental mobile robot with acoustic source localization capabilities for surveillance and transportation tasks in indoor environments. The location of a speaking operator is detected via a microphone array based algorithm; localization information are passed to a navigation module which sets up a navigation mission using knowledge of the environment map. The system has been developed using a distributed architecture with TCP/IP message passing. We describe the hardware and software architectures, as well as the algorithms. Experimental results describing the system performance in localization tasks are reported.
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Titolo: | Algorithms and architectures for acoustic localization based on microphone array in service robotics |
Autori: | |
Data di pubblicazione: | 2000 |
Handle: | http://hdl.handle.net/11567/392119 |
ISBN: | 0-7803-5886-4 |
Appare nelle tipologie: | 04.01 - Contributo in atti di convegno |