{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,6,17]],"date-time":"2024-06-17T19:13:59Z","timestamp":1718651639529},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2010,1,18]],"date-time":"2010-01-18T00:00:00Z","timestamp":1263772800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2010,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Sound source tracking is an important function for autonomous robots, because sound is omni-directional and can be recognized in dark environment. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We consider a general type of two-wheeled mobile robot that has wide industrial applications. Because obstacle avoidance is also an indispensable function for autonomous mobile robots, the robot is equipped with distance sensors to detect obstacles in real time. To deal with the robot's nonholonomic constraint and combine information from the auditory and distance sensors, we propose a model reference control approach in which the robot follows a desired trajectory generated by a reference model. The effectiveness of the proposed method is confirmed by experiments in which the robot is expected to approach a sound source while avoiding obstacles.<\/jats:p>","DOI":"10.1017\/s0263574709990919","type":"journal-article","created":{"date-parts":[[2010,1,18]],"date-time":"2010-01-18T08:52:52Z","timestamp":1263804772000},"page":"1057-1064","source":"Crossref","is-referenced-by-count":7,"title":["Sound source tracking considering obstacle avoidance for a mobile robot"],"prefix":"10.1017","volume":"28","author":[{"given":"Naoki","family":"Uchiyama","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shigenori","family":"Sano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Akihiro","family":"Yamamoto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2010,1,18]]},"reference":[{"key":"S0263574709990919_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.838008"},{"key":"S0263574709990919_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/3516.491410"},{"key":"S0263574709990919_ref6","doi-asserted-by":"publisher","DOI":"10.1023\/B:APIN.0000021417.62541.e0"},{"key":"S0263574709990919_ref4","unstructured":"4. Woo-han Y. , Cheon-in O. , Kyu-Dae B. and Su-young J. , \u201cThe impulse sound source tracking using kalman filter and the cross-correlation,\u201d Proc. International Joint Conference SICE-ICASE, (2006) pp. 317\u2013320."},{"key":"S0263574709990919_ref18","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022066950"},{"key":"S0263574709990919_ref10","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"S0263574709990919_ref7","unstructured":"7. Lv X. , Zhang M. and Liu X. , \u201cA sound source tracking system based on robot hearing and vision,\u201d Proc. 2008 International Conference on Computer Science and Software Engineering, (2008) pp. 1119\u20131122."},{"key":"S0263574709990919_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9"},{"key":"S0263574709990919_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(98)00063-X"},{"key":"S0263574709990919_ref19","unstructured":"19. Andersson S. B. , Handzel A. A. , Shah V. and Krishnaprasad P. , \u201cRobot phonoaxis with dynamic sound-source localization,\u201d IEEE International Conference on Robotics and Automation, (2004) pp. 4833\u20134838."},{"key":"S0263574709990919_ref9","doi-asserted-by":"crossref","unstructured":"9. Ferreira J. F. , Pinho C. and Dias J. , \u201cImplementation and calibration of a bayesian binaural system for 3D localisation,\u201d 2008 IEEE International Conference on Robotics and Biomimetics, (2008).","DOI":"10.1109\/ROBIO.2009.4913261"},{"key":"S0263574709990919_ref2","doi-asserted-by":"publisher","DOI":"10.1121\/1.1791872"},{"key":"S0263574709990919_ref3","unstructured":"3. Murray J. , Wermter S. and Erwin H. , \u201cAuditory robotic tracking of sound sources using hybrid cross-correlation and recurrent networks,\u201d Proc. 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems, (2005) pp. 3554\u20133559."},{"key":"S0263574709990919_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/21.44033"},{"key":"S0263574709990919_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/100.580977"},{"key":"S0263574709990919_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/3468.709600"},{"key":"S0263574709990919_ref5","doi-asserted-by":"crossref","unstructured":"5. Nakadai K. , Hidai K. , Okuno H. G. , Mizoguchi H. and Kitano H. , \u201cReal-time auditory and visual multiple-speaker tracking for human-robot interaction,\u201d IEEE J. Robot. Mechatronics, 479\u2013489, JSME (2002).","DOI":"10.20965\/jrm.2002.p0479"},{"key":"S0263574709990919_ref8","doi-asserted-by":"crossref","unstructured":"8. H\u00f6rnstein J. , Lopes M. , Santos-Victor J. and Lacerda F. , \u201cSound localization for humanoid robots-building Audio-motor maps based on the HRTF,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, (2006).","DOI":"10.1109\/IROS.2006.281849"},{"key":"S0263574709990919_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.829459"},{"key":"S0263574709990919_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(99)00002-0"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709990919","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T16:26:23Z","timestamp":1685377583000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709990919\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,1,18]]},"references-count":20,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2010,12]]}},"alternative-id":["S0263574709990919"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709990919","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,1,18]]}}}