Route of Arrival Estimation Utilizing Microphone Array Processing for Transferring Humanoid Robots
Authors: Vladimir Tourbabin, Boaz Rafaely
Summary: The auditory system of humanoid robots has gained elevated consideration in recent times. This technique sometimes acquires the encircling sound area by way of a microphone array. Alerts acquired by the array are then processed utilizing numerous strategies. One of many extensively utilized strategies is path of arrival estimation. The traditional path of arrival estimation strategies assume that the array is fastened at a given place in the course of the estimation. Nonetheless, this isn’t essentially true for an array put in on a transferring humanoid robotic. The array movement, if not accounted for appropriately, can introduce a big error within the estimated path of arrival. The present paper presents a sign mannequin that takes the movement into consideration. Primarily based on this mannequin, two processing strategies are proposed. The primary one compensates for the movement of the robotic. The second technique is relevant to periodic indicators and makes use of the movement to be able to improve the efficiency to a stage past that of a stationary array. Numerical simulations and an experimental research are offered, demonstrating that the movement compensation technique virtually eliminates the motion-related error. Additionally it is demonstrated that through the use of the motion-based enhancement technique it’s potential to enhance the path of arrival estimation efficiency, as in comparison with that obtained when utilizing a stationary array
