Robotic Sensing: Adaptive Robotic Control for Improved Acoustic Source Localization in 2D

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Project Overview

This research was conducted over the Spring 2010 semester at Washington University by Raphael Schwartz and Zachary Knudsen to fulfill the requirements of ESE 497 Undergraduate Research. The project was overseen by Dr. Arye Nehorai, Phani Chavali, Patricio S. La Rosa and Ed Richter of the Department of Electrical and Systems Engineering. It was done in continuation of our Fall 2009 project, "Data Processing Architectures for Real-Time Acoustic Source Position Estimation" and Chase Lafont's project, "Design of A Robotic Platform and Algorithms for Adaptive Control of Sensing Parameters".

In Spring 2010 our work was presented at Washington University's Undergraduate Research Symposium with the following abstract:


In this project we expand our previous work entitled "Design of a Robotic Platform and Algorithms for Adaptive Control of Sensing Parameters". We have shown that the performance of our algorithm for acoustic source location in 2D can be improved by adaptively controlling the microphone array geometry. To this end, we built a robotic microphone array with capability of autonomous control of array geometry constrained to movement in 1D. In this project we increase the degrees of freedom of our robotic platform and design a new controlling algorithm in order to improve even further the performance. In particular, our robots move in 2D and the pair of microphones can also rotate independently of the robot orientation. A heuristic approach for the control of robot locations is presented and validated with real experiments. Labview and Matlab are used for the implementation of the system.

Acknowledgements

We would like to thank all of the following people for their involvement with this project. Without their dedicated effort this project would not have been possible.

Dr. Arye Nehorai, Phani Chavali, Patricio S. La Rosa, Ed Richter, Joshua York, Chase LaFont, Matt Meshulam, and Brian Blosser.