2A2-C08 Mobile Robot Localization using Sound Source Direction obtained by Small Element Number of Microphone Array(Wheeled Robot / Tracked Vehicle (2))

Abstract

Indoor environments, such as factories or offices, the location and attitude estimation of the robot is important. Conventionally, they have been estimated using the external information by processing the camera image and the Laser-Range-Finder. However, high performance computer is required on the robot itself to calculate these information. Therefore, we propose localization method using a few microphones measuring sound directions as landmarks. The proposed method estimates the location and attitude by Extended Kalman Filter using a microphone information and odometry information of the robot. Efficacy has been shown the results of the experiment, the proposed method is to correct its own position.