Audio source localization by optimal control of a mobile robot

Emmanuel Vincent 1, * Aghilas Sini 1, 2 François Charpillet 2
* Auteur correspondant
1 MULTISPEECH - Speech Modeling for Facilitating Oral-Based Communication
Inria Nancy - Grand Est, LORIA - NLPKD - Department of Natural Language Processing & Knowledge Discovery
2 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : We consider the task of audio source localization using a mi-crophone array on a mobile robot. Active localization algo-rithms have been proposed in the literature that can estimate the 3D position of a source by fusing the measurements taken for different poses of the robot. The robot movements are typ-ically fixed, however, or they obey heuristic strategies, such as turning the head and moving towards the source, which may be suboptimal. In this paper, we propose to control the robot movements so as to locate the source as quickly as possible. We represent the belief about the source position by a discrete grid and we introduce a dynamic programming algorithm to find the optimal robot motion minimizing the entropy of the grid. We report initial results in a real environment.
Type de document :
Communication dans un congrès
IEEE 2015 International Conference on Acoustics, Speech and Signal Processing (ICASSP), Apr 2015, Brisbane, Australia. 2015
Liste complète des métadonnées

Littérature citée [26 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01103949
Contributeur : Emmanuel Vincent <>
Soumis le : samedi 24 septembre 2016 - 02:10:07
Dernière modification le : jeudi 11 janvier 2018 - 06:27:31

Fichier

vincent_ICASSP15.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01103949, version 2

Citation

Emmanuel Vincent, Aghilas Sini, François Charpillet. Audio source localization by optimal control of a mobile robot. IEEE 2015 International Conference on Acoustics, Speech and Signal Processing (ICASSP), Apr 2015, Brisbane, Australia. 2015. 〈hal-01103949v2〉

Partager

Métriques

Consultations de la notice

271

Téléchargements de fichiers

96