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In order to improve the adaptability of mobile robot path planning algorithm, a solution for robotic path planning method using improved genetic algorithm is proposed. In this method, the chromosome with variable length is introduced in the genetic algorithm. In addition, a new fitness function and three improved genetic operators are proposed in this study, including simplification operator, revision...
Sound source localization is an important feature in robot audition. This work proposes a sound source number and directions estimation method by using the delay information of microphone array. An eigenstructure-based generalized cross correlation method is proposed to estimate time delay between microphones. Upon obtaining the time delay information, the sound source direction and velocity can be...
Sound source localization is an important function in robot audition. The existing works perform sound source localization using static microphone arrays. This work proposes a framework that simultaneously localizes the mobile robot and multiple sound sources using a microphone array on the robot. First, an eigenstructure-based generalized cross correlation method for estimating time delays between...
This paper proposes and implements a robot audition module which can detect voice activity, estimate sound source direction and enhance speech signal in a noisy environment. These algorithms are implemented on an embedded dual-core processor platform which includes a ARM subsystem and DSP subsystem. An eight-channel digital microphone array is also implemented for sound data acquisition. All the experiments...
Sound source localization is an important feature in robot audition. This work proposes an eigenstructure-based generalized cross correlation method for estimating time delay between microphones. From experiments, it shows that this method is more robust as compared with conventional GCC using PHAT weighting. By knowing the delays among microphones, both the sound source location and sound speed can...
Human detection and tracking is important for user-friendly human-robot interaction. The robot should be able to find the user autonomously and keep its attention to the user in a human-like manner. In this paper, a design and experimental study of robust human detection and tracking is presented through fusion several modalities of sensory information. The multi-modal interaction design utilizes...
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