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Sound Source Localization based Robot Navigation

Sound Source Localization based Robot Navigation

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Sound Source Localization based Robot Navigation

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  1. Sound Source Localization based Robot Navigation Group 13 Supervised By: Dr. A. G. Buddhika P. Jayasekara Dr. A. M. Harsha S. Abeykoon Presenter: R.M.T.O.Rajapaksha (13-2) 13-1 :R.U.G.Punchihewa080392X 13-2 :R.M.T.O.Rajapaksha 080398V 13-3 :R.S.Ranjitha080414U 13-4 :R.M.D.D.B.Rasnayake080416D

  2. Application of Acoustic Sound localization • Estimation the point of sound source (e.g:-Military Applications) 2.Separation of signals from multiple sources 3.Teleconferencing Voice control. 4.Robotic navigation.

  3. Project Objectives 1.Localize an instantaneous Sound in a obstacle free room 2.Communicate the location co-ordinates with a Robot 3.Navigating the robot

  4. Approaches

  5. Time Domain Approach • The main concept is calculating the delay of arrival of sound to the mics

  6. Time Domain Approach cont. • Estimate the time delay is to compute the cross correlation (xCorr) between the received signals at two microphones. Cross Correlation Peak Detector

  7. Cross Correlation cont. Signal 1 Signal 2 Peak Detecting Cross Correlation

  8. Matlab Code for Cross Correlation

  9. Methodology 1. Selecting sound source with Fix Amplitude and Frequency 2.The sound spread from the sound source is captured by four microphones. 3.Isolate the frequency using filters. 4.Then the signals are amplified using pre amplifier circuits. 5.Input signal is processed & calculate the amplitude and time difference values using microcontroller and sent to PC.

  10. Data Acquisition • We used two Condenser mics and connected those into same laptop • Since one laptop is having one mic input We had to use USB Sound Card. • We had to check whether the both mics are working simultaneously. • It worked.

  11. Results • Even with the delay same output signal observed The Sound Spectrum of 2 delayed signals

  12. Microphone Arrangement USB MIC input Normal MIC input b Laptop Graphs

  13. Matlab Simulation

  14. Testing the OpAmp Circuit for the Condensor Mike

  15. Java Simulation

  16. Problems Faced in Localizing • Vibration & Noise effects • Equipment errors & human errors. • Reflection of Sound • If height of the sound Source vary • Microphones used were not identical

  17. Time Plan

  18. Questions?