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http://dx.doi.org/10.5302/J.ICROS.2014.13.1944

Obstacle Avoidance of a Moving Sound Following Robot using Active Virtual Impedance  

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)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.2, 2014 , pp. 200-210 More about this Journal
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
microphone array; location; obstacle avoidance; mobile robot; sound source;
Citations & Related Records
Times Cited By KSCI : 9  (Citation Analysis)
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