Sound Localization in Robotic Application

Abstract: This thesis is focused on implementing sound localizationin robotics to explore how a computer can interpret it’ssurroundings, specifically using ”off the shelf components”.Sound localization gives robots depth to it’s hearing. Tostudy this, a robot is constructed with four microphones.To show the found location, a shooting mechanism is constructedand implemented to shoot a candy to the targetpoint. The core in this project is to accurately measurethe time of the incoming sound in form of impulse sound.This data is analyzed to find the source and then, build aturret that turns to the location and accurately deliver aprojectile to that position.The time difference from four microphones is analyzedto find the angle and distance to the sound source usingtriangulation. Once the location is found, the robot turnstowards the location and calculates the shooting trajectory.Finally the robot shoots a candy to the sound source.The accuracy of these methods are tested.In this thesis a full construction of the device and therelevant theory is presented. The final product is able findthe angle to the sound source and accurately shoot a projectileto a specific point. The distance triangulation deemedto be ineffective, due to sensitivity to errors being to great.