Sound Source Localization based Robot Navigation Group 13 Supervised By: Dr. A. G. Buddhika P....
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Transcript of Sound Source Localization based Robot Navigation Group 13 Supervised By: Dr. A. G. Buddhika P....
Sound Source Localization based Robot Navigation
Group 13
Supervised By:Dr. A. G. Buddhika P. Jayasekara
Dr. A. M. Harsha S. Abeykoon
13-1 :R.U.G.Punchihewa 080392X13-2 :R.M.T.O.Rajapaksha 080398V13-3 :R.S.Ranjitha 080414U13-4 :R.M.D.D.B.Rasnayake 080416D
Presenter: R.M.T.O.Rajapaksha (13-2 )
Application of Acoustic Sound localization
1. Estimation the point of sound source(e.g:-Military Applications)
2.Separation of signals from multiple sources3.Teleconferencing Voice control.4.Robotic navigation.
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
Approaches
Algorithm
Time Domain
Frequency Domain
Time Domain Approach• The main concept is calculating the delay of
arrival of sound to the mics
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
Peak Detecting
Signal 1
Signal 2
Cross Correlation
Cross Correlation cont.
Matlab Code for Cross Correlation
Methodology1. 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.
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.
0 0.5 1 1.5 2 2.5 3 3.5
x 104
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
with no delay
with 1 second delay
The Sound Spectrum of 2 delayed signals
Results
• Even with the delay same output signal observed
Microphone Arrangement
Laptop
Normal MIC input
USB MIC inputb
Graphs
Matlab Simulation
Testing the OpAmp Circuit for the Condensor Mike
Java Simulation
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
Step Dec Jan Feb Mar Apr May June July AugProgressive report 1 X Literature Survey X Data Acquisition using Different methods X
Software Simulation X Hardware Implementtaion Testing and Tunning Final Presentaion
Time Plan
Questions?