Algorithms and architectures for acoustic localization based on microphone array in service robotics
Enzo Mumolo, Massimiliano Nolich, Gianni Vercelli · 2002
This paper describes an experimental mobile robot with acoustic source localization capabilities for surveillance and transportation tasks in indoor environments. The location of a speaking operator is detected via a microphone array based algorithm; localization information are passed to a navigation module which sets up a navigation mission using knowledge of the environment map. The system has been developed using a distributed architecture with TCP/IP message passing. We describe the hardware and software architectures, as well as the algorithms. Experimental results describing the system performance in localization tasks are reported.