Passive sonar applications: target tracking and navigation of an autonomous robot

Abstract

Abstruct-This paper demonstrates the use of small area acoustic array technology as passive sonar for an autonomous mobile robot sound localization and direction control. Real-time target tracking is based solely on received audio signals.

A survey on sound source localization in robotics: From binaural to array processing methods

“…Such a problem is often mentioned in the literature: in [97], where an array of 128 microphones spreaded into a room is used, the authors proposed to filter out all the frequencies below 500 Hz; the reference [98] gets close conclusions when simulating the 8-microphone antenna implemented on the small mobile platform EvBoy II: while the beampattern main lobe is thin enough for frequencies over 1 kHz, frequencies below 800 Hz cannot be exploited for localization; even with a three-ring 32-microphone array. [99] shows that the bad array directivity at low frequencies and the aliasing effect at low wavelengths conducts the localization to be performed only for frequencies between 1 and 2 kHz.…”

Underwater Acoustic Source Localization and Sounds Classification in Distributed Measurement Networks

“…A set of three hydrophones (Sensor Technology, model SS03) are mounted on a 20m structure with 6 buoys that assure a linear distribution of the hydrophones. The number and the linear distribution of the hydrophones permit to implement a hyperbolic algorithm (Mattos & Grant, 2004;Glegg et al, 2001) for underwater acoustic source localization, and also to perform underwater sound monitoring tasks including sound detection and classification. The main characteristics of the hydrophones includes a frequency range between 200 Hz and 20 kHz, a sensitivity of -169 dB relatively to 1 V/μPa and a maximum operating depth of 100 m. The azimuth angle (ϕ) obtained from hydrophone array structure, together with the information obtained from the GPS1 (Garmin 75GPSMAP) device, installed on the base unit, and the information obtained from the fluxgate compass (SIMRAD RFC35NS) device, are used to calculate the absolute position of the remote underwater acoustic source.…”

Human following with a mobile robot based on combination of disparity and color images

“…There have been many works using various sensors for human detection and tracking [2], [3]. Recently, in the area of target tracking, the vision-based method has become mainstream [4], [5], [6].…”