Sound source tracking considering obstacle avoidance for a mobile robot

Uchiyama, Naoki; Sano, Shigenori; Yamamoto, Akihiro

doi:10.1017/s0263574709990919

Cited by 7 publications

(2 citation statements)

References 23 publications

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“…One of these areas is the application of mobile robots, and there is research on such robots moving and following markers to recognized locations, engaging in obstacle avoidance, etc. [7,8]. In particular, sound-position recognition mobile robots follow a sound source from any position using abnormal speed changes and rapid rotation of the mobile robot's trajectory.…”

Section: Introductionmentioning

confidence: 99%

Active Virtual Impedance Control for Sound-Following Robots to Avoid Obstacles

et al. 2019

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A novel active virtual impedance algorithm is here proposed to help sound-following robots avoid obstacles while tracking a sound source. The tracking velocity of a mobile robot to a sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for relative distances and velocities. However, in this research, the coefficients are dynamically adjusted to extend the obstacle avoidance performance to multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source with respect to the mobile robot, which carries the microphone array. The effectiveness of the proposed algorithm is demonstrated by experiments.

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Section: Introductionmentioning

confidence: 99%

Active Virtual Impedance Control for Sound-Following Robots to Avoid Obstacles

et al. 2019

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“…In particular, wheeled mobile robots are highly expected to be utilized and hence have been extensively studied in terms of path planning, trajectory tracking control, localization, and navigation. [1][2][3][4][5][6][7][8][9][10][11] Mobile robots normally operate in environments occupied by obstacles; therefore, they must be equipped with an obstacle avoidance capability. Moreover, some obstacles may move or change over time, requiring the algorithm to be updated on a continuous basis.…”

Section: Introductionmentioning

confidence: 99%

Vision-based smooth obstacle avoidance motion trajectory generation for autonomous mobile robots using Bézier curves

Simba

Uchiyama

Aldibaja

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper proposes an obstacle avoidance trajectory generation method that provides a smooth trajectory in real time. The trajectory is generated from an environmental top-view image, where a fisheye lens is used to capture a wide area at low height. Corners of the obstacles are detected and corrected using the log-polar transform and are used to generate a simple configuration space that reduces the computation time. An optimal path is computed by using the A[Formula: see text] algorithm and replaced by a smooth trajectory generated based on piecewise quintic Bézier curves. Based on the established goal and visual information, a method for generating the first and second derivatives at the start and end points of each Bézier segment is proposed to generate a continuous curvature trajectory. The method is simple and easy to implement and has an average computation time of 1.17s on a PC (CPU: 1.4 GHz) for a workspace containing five to six obstacles. Experimental results verify that the proposed method is effective for real-time motion planning of autonomous mobile robots.

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