Robot position identification by actively localizing sound beacons

Jie Huang; Satoshi Ishikawa; Michiko Ebana; Huakang Li; Qunfei Zhao

doi:10.1109/IMTC.2006.235975

Robot position identification by actively localizing sound beacons

Jie Huang^*, Satoshi Ishikawa, Michiko Ebana, Huakang Li, Qunfei Zhao

^*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

5 Citations (Scopus)

Abstract

In this paper, we proposed a robot self position identification method by active sound localization. This method can be used for autonomous security robots working in room environments. A system using a AIBO robot equipped with two microphones and wireless network is constructed and is used for position identification experiments. Arrival time differences to the microphones of robot are used as localization cues. To overcome the ambiguity of front-back confusion, a three-head position measurement method was proposed. The robot position can be identified by the intersection of circles restricted by the azimuth differences to different speaker pairs. By localizing three or four speakers as sound beacons positioned on known locations, the robot can identify its self position with an average error of about 7 cm in a 2.5×3.0 m ² working space.

Original language	English
Title of host publication	IMTC'06 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference
Pages	1908-1912
Number of pages	5
DOIs	https://doi.org/10.1109/IMTC.2006.235975
Publication status	Published - 2006
Externally published	Yes
Event	IMTC'06 - IEEE Instrumentation and Measurement Technology Conference - Sorrento, Italy Duration: 24 Apr 2006 → 27 Apr 2006

Publication series

Name	Conference Record - IEEE Instrumentation and Measurement Technology Conference
ISSN (Print)	1091-5281

Conference

Conference	IMTC'06 - IEEE Instrumentation and Measurement Technology Conference
Country/Territory	Italy
City	Sorrento
Period	24/04/06 → 27/04/06

Keywords

Active robot position identification
Robot navigation by sound localization
Sound based position identification

Access to Document

10.1109/IMTC.2006.235975

Cite this

Huang, J., Ishikawa, S., Ebana, M., Li, H., & Zhao, Q. (2006). Robot position identification by actively localizing sound beacons. In IMTC'06 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference (pp. 1908-1912). Article 1700521 (Conference Record - IEEE Instrumentation and Measurement Technology Conference). https://doi.org/10.1109/IMTC.2006.235975

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title = "Robot position identification by actively localizing sound beacons",

abstract = "In this paper, we proposed a robot self position identification method by active sound localization. This method can be used for autonomous security robots working in room environments. A system using a AIBO robot equipped with two microphones and wireless network is constructed and is used for position identification experiments. Arrival time differences to the microphones of robot are used as localization cues. To overcome the ambiguity of front-back confusion, a three-head position measurement method was proposed. The robot position can be identified by the intersection of circles restricted by the azimuth differences to different speaker pairs. By localizing three or four speakers as sound beacons positioned on known locations, the robot can identify its self position with an average error of about 7 cm in a 2.5×3.0 m 2 working space.",

keywords = "Active robot position identification, Robot navigation by sound localization, Sound based position identification",

author = "Jie Huang and Satoshi Ishikawa and Michiko Ebana and Huakang Li and Qunfei Zhao",

year = "2006",

doi = "10.1109/IMTC.2006.235975",

language = "English",

isbn = "0780393600",

series = "Conference Record - IEEE Instrumentation and Measurement Technology Conference",

pages = "1908--1912",

booktitle = "IMTC'06 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference",

note = "IMTC'06 - IEEE Instrumentation and Measurement Technology Conference ; Conference date: 24-04-2006 Through 27-04-2006",

}

Huang, J, Ishikawa, S, Ebana, M, Li, H & Zhao, Q 2006, Robot position identification by actively localizing sound beacons. in IMTC'06 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference., 1700521, Conference Record - IEEE Instrumentation and Measurement Technology Conference, pp. 1908-1912, IMTC'06 - IEEE Instrumentation and Measurement Technology Conference, Sorrento, Italy, 24/04/06. https://doi.org/10.1109/IMTC.2006.235975

Robot position identification by actively localizing sound beacons. / Huang, Jie; Ishikawa, Satoshi; Ebana, Michiko et al.
IMTC'06 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference. 2006. p. 1908-1912 1700521 (Conference Record - IEEE Instrumentation and Measurement Technology Conference).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

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AU - Ishikawa, Satoshi

AU - Ebana, Michiko

AU - Li, Huakang

AU - Zhao, Qunfei

PY - 2006

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N2 - In this paper, we proposed a robot self position identification method by active sound localization. This method can be used for autonomous security robots working in room environments. A system using a AIBO robot equipped with two microphones and wireless network is constructed and is used for position identification experiments. Arrival time differences to the microphones of robot are used as localization cues. To overcome the ambiguity of front-back confusion, a three-head position measurement method was proposed. The robot position can be identified by the intersection of circles restricted by the azimuth differences to different speaker pairs. By localizing three or four speakers as sound beacons positioned on known locations, the robot can identify its self position with an average error of about 7 cm in a 2.5×3.0 m 2 working space.

AB - In this paper, we proposed a robot self position identification method by active sound localization. This method can be used for autonomous security robots working in room environments. A system using a AIBO robot equipped with two microphones and wireless network is constructed and is used for position identification experiments. Arrival time differences to the microphones of robot are used as localization cues. To overcome the ambiguity of front-back confusion, a three-head position measurement method was proposed. The robot position can be identified by the intersection of circles restricted by the azimuth differences to different speaker pairs. By localizing three or four speakers as sound beacons positioned on known locations, the robot can identify its self position with an average error of about 7 cm in a 2.5×3.0 m 2 working space.

KW - Active robot position identification

KW - Robot navigation by sound localization

KW - Sound based position identification

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ER -

Robot position identification by actively localizing sound beacons

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