2017
DOI: 10.1142/s0219843617500256
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Optimal Trajectory Control for Capturing a Mobile Sound Source by a Mobile Robot

Abstract: This paper presents a novel trajectory planning optimization process for a mobile robot to capture a mobile sound source (MSS) efficiently. The sound source can be an arbitrary object for the mobile robot to follow, such as a human being. The mobile robot is equipped with a microphone array so that it can obtain the location and direction of the MSS. During the capturing process, the location and direction of the MSS need to be known in advance so that an optimal path for capturing the sound source can be gene… Show more

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Cited by 1 publication
(1 citation statement)
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“…If the robot moves rotationally, a rotational centroid is generated, and this point is the instantaneous center of rotation (ICR). ICR is a point at which the extension lines of the rotational axes of the wheels meet [34][35][36][37]. Since the axis of the two wheels of the mobile robot analogous to the vehicle wheels' moving tendency is positioned along the same where ∆s denotes the infinitesimal distance covered from a start point on a curve to the end point and ∆θ denotes the angle formed by two tangent lines at two points.…”
Section: Curvature Algorithmmentioning
confidence: 99%
“…If the robot moves rotationally, a rotational centroid is generated, and this point is the instantaneous center of rotation (ICR). ICR is a point at which the extension lines of the rotational axes of the wheels meet [34][35][36][37]. Since the axis of the two wheels of the mobile robot analogous to the vehicle wheels' moving tendency is positioned along the same where ∆s denotes the infinitesimal distance covered from a start point on a curve to the end point and ∆θ denotes the angle formed by two tangent lines at two points.…”
Section: Curvature Algorithmmentioning
confidence: 99%