Acoustic Tracking System for Autonomous Robots based on TDE and Signal Intensity

Edgar D. Lasso, Alejandra Patarroyo, Fredy H. Martinez


This article details the development and evaluation of an acoustic localization system for autonomous robots based on TDE and signal strength, mainly oriented towards service robotics applications. The estimated delay time was evaluated by an arrangement between two microphones. The criterion of the delay rests with the signal strength of a third microphone (coplanar arrangement) that allows to discern the location of the source. This also feeds a third microphone voice identification system that allows the system to respond only to specific voice commands. The prediction algorithm operates comparing the sensing TDE against theoretical values of the acoustic propagation model; results are then weighted according to the signal strength average. A comprehensive set of laboratory experiments on a real prototype bearing system performance, displaying average error of 18.1 degrees in azimuth and elevation of 7.6 degrees was reported. In particular, the analysis developed allows to define the necessary and sufficient conditions for establishing real-time a unique position in the space of origin, with sufficient accuracy for autonomous navigation applications.


Voice identification; Acoustic location; Estimated delay

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