Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array
Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Wang, Zhiqing [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2022 |
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| Schlagwörter: |
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| Anmerkung: |
© ICROS, KIEE and Springer 2022 |
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| Übergeordnetes Werk: |
Enthalten in: International Journal of Control, Automation and Systems - Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009, 20(2022), 5 vom: 21. Apr., Seite 1605-1620 |
|---|---|
| Übergeordnetes Werk: |
volume:20 ; year:2022 ; number:5 ; day:21 ; month:04 ; pages:1605-1620 |
| Links: |
|---|
| DOI / URN: |
10.1007/s12555-021-0087-z |
|---|
| Katalog-ID: |
SPR050680897 |
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| 520 | |a Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions. | ||
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| 700 | 1 | |a Zhu, Jiagang |4 aut | |
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10.1007/s12555-021-0087-z doi (DE-627)SPR050680897 (SPR)s12555-021-0087-z-e DE-627 ger DE-627 rakwb eng Wang, Zhiqing verfasserin (orcid)0000-0002-3916-514X aut Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2022 Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions. Aural feature extraction (dpeaa)DE-He213 robotic audition (dpeaa)DE-He213 sound source localization (dpeaa)DE-He213 source approaching control (dpeaa)DE-He213 Zou, Wei (orcid)0000-0003-4215-5361 aut Zhang, Chi aut Kang, Zhaobing aut Zhu, Jiagang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 20(2022), 5 vom: 21. Apr., Seite 1605-1620 (DE-627)SPR026303256 nnns volume:20 year:2022 number:5 day:21 month:04 pages:1605-1620 https://dx.doi.org/10.1007/s12555-021-0087-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 20 2022 5 21 04 1605-1620 |
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10.1007/s12555-021-0087-z doi (DE-627)SPR050680897 (SPR)s12555-021-0087-z-e DE-627 ger DE-627 rakwb eng Wang, Zhiqing verfasserin (orcid)0000-0002-3916-514X aut Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2022 Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions. Aural feature extraction (dpeaa)DE-He213 robotic audition (dpeaa)DE-He213 sound source localization (dpeaa)DE-He213 source approaching control (dpeaa)DE-He213 Zou, Wei (orcid)0000-0003-4215-5361 aut Zhang, Chi aut Kang, Zhaobing aut Zhu, Jiagang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 20(2022), 5 vom: 21. Apr., Seite 1605-1620 (DE-627)SPR026303256 nnns volume:20 year:2022 number:5 day:21 month:04 pages:1605-1620 https://dx.doi.org/10.1007/s12555-021-0087-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 20 2022 5 21 04 1605-1620 |
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10.1007/s12555-021-0087-z doi (DE-627)SPR050680897 (SPR)s12555-021-0087-z-e DE-627 ger DE-627 rakwb eng Wang, Zhiqing verfasserin (orcid)0000-0002-3916-514X aut Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2022 Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions. Aural feature extraction (dpeaa)DE-He213 robotic audition (dpeaa)DE-He213 sound source localization (dpeaa)DE-He213 source approaching control (dpeaa)DE-He213 Zou, Wei (orcid)0000-0003-4215-5361 aut Zhang, Chi aut Kang, Zhaobing aut Zhu, Jiagang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 20(2022), 5 vom: 21. Apr., Seite 1605-1620 (DE-627)SPR026303256 nnns volume:20 year:2022 number:5 day:21 month:04 pages:1605-1620 https://dx.doi.org/10.1007/s12555-021-0087-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 20 2022 5 21 04 1605-1620 |
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10.1007/s12555-021-0087-z doi (DE-627)SPR050680897 (SPR)s12555-021-0087-z-e DE-627 ger DE-627 rakwb eng Wang, Zhiqing verfasserin (orcid)0000-0002-3916-514X aut Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2022 Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions. Aural feature extraction (dpeaa)DE-He213 robotic audition (dpeaa)DE-He213 sound source localization (dpeaa)DE-He213 source approaching control (dpeaa)DE-He213 Zou, Wei (orcid)0000-0003-4215-5361 aut Zhang, Chi aut Kang, Zhaobing aut Zhu, Jiagang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 20(2022), 5 vom: 21. Apr., Seite 1605-1620 (DE-627)SPR026303256 nnns volume:20 year:2022 number:5 day:21 month:04 pages:1605-1620 https://dx.doi.org/10.1007/s12555-021-0087-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 20 2022 5 21 04 1605-1620 |
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10.1007/s12555-021-0087-z doi (DE-627)SPR050680897 (SPR)s12555-021-0087-z-e DE-627 ger DE-627 rakwb eng Wang, Zhiqing verfasserin (orcid)0000-0002-3916-514X aut Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2022 Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions. Aural feature extraction (dpeaa)DE-He213 robotic audition (dpeaa)DE-He213 sound source localization (dpeaa)DE-He213 source approaching control (dpeaa)DE-He213 Zou, Wei (orcid)0000-0003-4215-5361 aut Zhang, Chi aut Kang, Zhaobing aut Zhu, Jiagang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 20(2022), 5 vom: 21. Apr., Seite 1605-1620 (DE-627)SPR026303256 nnns volume:20 year:2022 number:5 day:21 month:04 pages:1605-1620 https://dx.doi.org/10.1007/s12555-021-0087-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 20 2022 5 21 04 1605-1620 |
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Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array Aural feature extraction (dpeaa)DE-He213 robotic audition (dpeaa)DE-He213 sound source localization (dpeaa)DE-He213 source approaching control (dpeaa)DE-He213 |
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Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array |
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Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array |
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Wang, Zhiqing |
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Wang, Zhiqing Zou, Wei Zhang, Chi Kang, Zhaobing Zhu, Jiagang |
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practical robotic auditory perception and approaching methods based on small-sized microphone array |
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Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array |
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Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions. © ICROS, KIEE and Springer 2022 |
| abstractGer |
Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions. © ICROS, KIEE and Springer 2022 |
| abstract_unstemmed |
Abstract Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions. © ICROS, KIEE and Springer 2022 |
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Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array |
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