Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array

doi:10.1007/s12555-021-0087-z

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array
	Wang, Zhiqing 1,2; Zou, Wei 1,2; Zhang, Chi 1,2; Kang, Zhaobing 1,2; Zhu, Jiagang 1,2
刊名	INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
	2022-04-21
页码	16
关键词	Aural feature extraction robotic audition sound source localization source approaching control
ISSN号	1598-6446
DOI	10.1007/s12555-021-0087-z
通讯作者	Zou, Wei(wei.zou@ia.ac.cn)
英文摘要	Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions.
资助项目	National Key Research and Development Program of China[2018YFB1306303] ; National Natural Science Foundation of China[61773374] ; Major Basic Research Projects of Natural Science Foundation of Shandong Province[ZR2019ZD07]
WOS关键词	SOURCE LOCALIZATION ; SOUND
WOS研究方向	Automation & Control Systems
语种	英语
出版者	INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
WOS记录号	WOS:000784791100011
资助机构	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Major Basic Research Projects of Natural Science Foundation of Shandong Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/48360]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Zou, Wei
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 2.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Zhongguancun East Rd 95, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Wang, Zhiqing,Zou, Wei,Zhang, Chi,et al. Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2022:16.
APA	Wang, Zhiqing,Zou, Wei,Zhang, Chi,Kang, Zhaobing,&Zhu, Jiagang.(2022).Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,16.
MLA	Wang, Zhiqing,et al."Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS (2022):16.