자율이동로봇 이동음원 추적센서 개발을 위한 의사선형 도래각 추정기법

Acoustic Source Tracker Based on Pseudo-Linear DOA Estimator for Autonomous Robots

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.