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With the background of human and service robot interaction indoor, a kind of auditory system of mobile robot based on Kinect sensor is designed to enhance the intelligent level of mobile robot and improve the interactive experience between human and robot. In virtue of the auditory system, operators can use voice commands to control the mobile robot for particular actions. In consideration of the...
A rescue robot can not directly find the target which is in other rooms or invisible places by using visual, ultrasonic or infrared ray sensors, because of the smoke or collapsed walls. According to the diffraction property of audio signal, the sound can bypass obstacles. To find the survivors which are often in far field, an audio-based robot localization system is developed to make it feasible to...
Because of the smoke or collapsed walls in the buildings while fire or earthquake occurred, a rescue robot can not directly find the target which is in other rooms or invisible places by using visual, ultrasonic or infrared ray sensors. According to the diffraction property of audio signal, the sound can bypass obstacles. By using microphone array, combined with the speech recognition technology,...
The mammalian used to direct its vision field to a sound source by its auditory system. So an auditory system of robot for sound source localization is proposed in this paper. Through using the four-element microphone array, the time differences of arrival can be achieved and the sound-source target can be localized. The experiment system is introduced. Then the localization algorithm based on the...
A navigation system of mobile robots which works in the acoustic environment is studied based on auditory perception mode in this paper. In this kind of application, if the target is outside the scope of the visual sensor, only the auditory sensor can be used for robot to detect the target. The navigation model proposed by this paper has five units which are sensor unit, map establishing unit, information...
The method of auditory system design based on time difference is proposed. According to the special character of sound signal and basic need of collection technology, it had been explored to the microphone choice and the signal pretreatment. The programmable counter array was adopted to capture the time difference. In this paper, sound signal amplifier, waveform shaping, calculation of the sound source...
A path planning structure based on hierarchical idea was adopted in this paper. In this structure, the global path planning is done firstly by the robot and the local online adjusting is done afterward. This kind of structure can debase the calculation complexity of path planning. Then, aiming at the problem of local motion planning, a conflict-resolution strategy based on forecast was presented....
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