TWO- AND THREE-DIMENSIONAL AUDITORY OCCUPANCY GRIDS WITH A MOBILE ROBOT

Brian P. DeJong

Keywords

Auditory occupancy grids, sound localization, occupancy grids, mobile robot

Abstract

This paper presents the simulation, robustness and implementation of twoand three-dimensional auditory occupancy grids (AOGs) on a mobile robot. In two dimensions, AOGs are successfully applied on a three-microphone robot in four-sound-source environments, first in a simulation and then on a physical robot. The two-dimensional AOGs are also found to be robust to source positioning. In three dimensions, AOGs are successful on a simulated four-microphone robot in four-source environments and are found to also be robust to source positioning. AOGs are shown to be a viable method for gaining knowledge about the acoustical environment.

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