Sound following robot
Abstract: There are many different areas of use for sound localization. This concept is not only used to localize a person that is talking but can also be applied for finding a person in need One method of localizing the position of a sound source is to use several microphones to register the difference of time in which each microphone detects the same sound. Using this information and trigonometry, the direction of the sound source can be calculated. The objective of this thesis is to investigate how precisely the position of a sound source can be determined using the aforementioned technique whilst varying the distance and angle of the sound source. In order to explore the capabilities of TDOA and test the obtainable accuracy, a demonstrator was built. On a complete car chassis, four microphones were mounted and used to determine the direction towards the sound source. Thereafter the robot rotated towards the sound source with an IMU keeping track of how much it had rotated. After this movement a comparison was made between the robots direction and the actual direction of the sound source. Lastly an ultrasonic sensor was placed on the robot for obstacle detection whilst tracking the sound. The vehicle traveled straight forward until the ultrasonic sensor deemed that an object was too close. The results show that an increased distance yields a more accurate sound localization and that there are some angles in which the sound localization functioned better.
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