抄録
The hearing sense on a mobile robot is important because it requires low calculation cost than camera image and laser-range-finder. However, it is difficult to estimate location of robot using only its hearing sense in noisy indoor environment. In this paper we present acoustic conditions, which robot can follow, of a sound following robot using an array of 2 microphones under multiple sound source. According to the experiment saying Signal (leading robot sound)-to-Noise ratio and noise source direction, the robot can correctly the direction of leading robot estimate in a range of 2 to 2.5 meters with SNR of 6 dB.
