Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Obstacle Avoidance of a Moving Sound Following Robot using Active Virtual Impedance

능동 가상 임피던스를 이용한 이동 음원 추종 로봇의 장애물 회피

  • Han, Jong-Ho (Department of Electrical Engineering, Pusan National University) ;
  • Park, Sook-Hee (Department of Electrical Engineering, Pusan National University) ;
  • Noh, Kyung-Wook (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Lee, Dong-Hyuk (Department of Electrical Engineering, Pusan National University) ;
  • Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
  • 한종호 (부산대학교 전자전기공학과) ;
  • 박숙희 (부산대학교 전자전기공학과) ;
  • 노경욱 (부산대학교 로봇관련협동과정) ;
  • 이동혁 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2013.07.17
  • Accepted : 2013.11.19
  • Published : 2014.02.01
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Abstract

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the 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 the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in 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 against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.

Keywords

References

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