A model-based sound localization system and its application to robot navigation
A model-based sound localization system and its application to robot navigation
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DOI：
10.1016/s0921-8890(99)00002-0
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发表时间：
1999-06-30
影响因子：
4.3
通讯作者：
Sugie, N
中科院分区：
文献类型：
--
作者：
Huang, J;Supaongprapa, T;Sugie, N
本文描述了一种配备实时声音定位系统以及用于障碍物检测的声纳系统的移动机器人。声音定位方法基于人类听觉系统的优先效应模型，以应对回声和混响。进行了声音定位和机器人导航实验。结果表明，即使物体在障碍物后面，机器人也能够在混响环境中定位发声物体，并在无碰撞的情况下接近物体。还讨论了系统的环境适应性和误差鲁棒性。（C）1999年，爱思唯尔科学出版社。版权所有。
This paper describes a mobile robot equipped with a real time sound localization system as well as a sonar system for obstacle detection. The sound localization method is based on a model of the precedence effect of the human auditory system to cope with echoes and reverberations. Sound localization and robot navigation experiments were conducted. The results show that the robot is capable of localizing sounding objects in a reverberant environment and approaching the objects without collisions, even when the objects were behind obstacles. Environment flexibility and error robustness of the system were discussed as well. (C) 1999 Elsevier Science B.V. All rights reserved.