MEMS Microphone Arrays Structures in Sound Source Localization
- Snejana Pleshkova-Bekiarska, Victor Hristov
This paper describes a n experimental mobile robot with acoustic source localization capabilities for surveillance and transportation tasks in indoor environments. The location of a speaking operator i s detected via a microphone array based algorithm; localization information are passed t o a navigation module which sets up a navigation mission using knowledge of the environment map. T h e system has been developed using a distributed architecture with TCP/IP message passing. W e describe the hardware and software architectures, as well as the algorithms. Experimental results describing the sys tem performance in localization tasks are reported.