Abstract
This paper presents the simulation, robustness and implementation of two- and three-dimensional auditory occupancy grids (AOGs) on a mobile robot. In two dimensions, AOGs are successfully applied on a three-microphone robot in four-sound-source environments, first in a simulation and then on a physical robot. The two-dimensional AOGs are also found to be robust to source positioning. In three dimensions, AOGs are successful on a simulated four-microphone robot in four-source environments and are found to also be robust to source positioning. AOGs are shown to be a viable method for gaining knowledge about the acoustical environment.
| Original language | English |
|---|---|
| Pages (from-to) | 14-22 |
| Number of pages | 9 |
| Journal | International Journal of Robotics and Automation |
| Volume | 29 |
| Issue number | 1 |
| DOIs | |
| State | Published - 2014 |
Keywords
- Auditory occupancy grids
- Mobile robot
- Occupancy grids
- Sound localization