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dc.contributor | Universitat Politècnica de Catalunya. Departament de Teoria del Senyal i Comunicacions |
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dc.contributor | Universitat Politècnica de Catalunya. VEU - Grup de Tractament de la Parla |
dc.contributor.author | Luna Aguilar, Christian Alejandro |
dc.contributor.author | Morales Diaz, América |
dc.contributor.author | Castelán, Mario |
dc.contributor.author | Nadeu Camprubí, Climent |
dc.date | 2019-01-17 |
dc.identifier.citation | Luna-Aguilar, C. A. [et al.]. Incorporation of acoustic sensors in the regulation of a mobile robot. "Advanced robotics", 17 Gener 2019, vol. 33, núm. 2, p. 61-73. |
dc.identifier.citation | 0169-1864 |
dc.identifier.citation | 10.1080/01691864.2019.1573703 |
dc.identifier.uri | http://hdl.handle.net/2117/130465 |
dc.description.abstract | This article introduces the incorporation of acoustic sensors for the localization of a mobile robot. The robot is considered as a sound source and its position is located applying a Time Delay of Arrival (TDOA) method. Since the accuracy of this method varies with the microphone array, a navigation acoustic map that indicates the location errors is built. This map also provides the robot with navigation trajectories point-to-point and the control is capable to drive the robot through these trajectories to a desired configuration. The proposed localization method is thoroughly tested using both a 900 Hz square signal and the natural sound of the robot, which is driven near the desired point with an average error of 0:067 m. |
dc.description.abstract | This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 01/01/2019, available online: http://www.tandfonline.com/10.1080/01691864.2019.1573703.” |
dc.description.abstract | Peer Reviewed |
dc.language.iso | eng |
dc.relation | https://www.tandfonline.com/doi/abs/10.1080/01691864.2019.1573703 |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights | info:eu-repo/semantics/openAccess |
dc.rights | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject | Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Radiocomunicació i exploració electromagnètica::Teledetecció |
dc.subject | Robotics |
dc.subject | Detectors |
dc.subject | Acoustic localization |
dc.subject | Regulation control |
dc.subject | Navigation map |
dc.subject | Robòtica |
dc.subject | Detectors |
dc.title | Incorporation of acoustic sensors in the regulation of a mobile robot |
dc.type | info:eu-repo/semantics/submittedVersion |
dc.type | info:eu-repo/semantics/article |