대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2011년도 제42회 하계학술대회
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- Pages.1788-1789
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- 2011
자율이동로봇 이동음원 추적센서 개발을 위한 의사선형 도래각 추정기법
Acoustic Source Tracker Based on Pseudo-Linear DOA Estimator for Autonomous Robots
- Lim, Jae-Il (Handong Global University) ;
- Ra, Won-Sang (Handong Global University)
- 발행 : 2011.07.20
초록
In order to develop a one-axis gimbaled acoustic source tracker for mobile robots, a pseudo-linear direction of arrival(DOA) estimator is proposed using a linear ultrasonic sensor array. Under the assumption that the sensor measurement errors are negligible, a linear measurement model is derived using the linear prediction relation of the received sinusoidal acoustic signals. Applying the Kalman filtering technique for this model, the linear recursive DOA estimator is designed. For its linear recursive filter structure, it is preferable for real-time implementation on a commercial DSP. Through the experiments, the effectiveness of the suggested method is demonstrated.
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