Next Article in Journal
Design of Broadband W-Band Waveguide Package and Application to Low Noise Amplifier Module
Previous Article in Journal
Mobile-Phone Antenna Array with Diamond-Ring Slot Elements for 5G Massive MIMO Systems
Article Menu

Export Article

Open AccessArticle

Active Virtual Impedance Control for Sound-Following Robots to Avoid Obstacles

1
EV Components & Materials R&D Group, Korea Institute of Industrial Technology, Gwangju 61012, Korea
2
Department of Electrical Engineering, Chonnam National University, 77 Youngbong-ro, Buk-gu, Gwangju 61186, Korea
3
Industrial Technology (Robotics), Korea University of Science and Technology, 217 Gajeong-ro, Yuseong-gu, Daejeon 34113, Korea
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(5), 522; https://doi.org/10.3390/electronics8050522
Received: 7 April 2019 / Revised: 6 May 2019 / Accepted: 7 May 2019 / Published: 10 May 2019
(This article belongs to the Section Systems & Control Engineering)
  |  
PDF [4798 KB, uploaded 10 May 2019]
  |  

Abstract

A novel active virtual impedance algorithm is here proposed to help sound-following robots avoid obstacles while tracking a sound source. The tracking velocity of a mobile robot to a sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for relative distances and velocities. However, in this research, the coefficients are dynamically adjusted to extend the obstacle avoidance performance to multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source with respect to the mobile robot, which carries the microphone array. The effectiveness of the proposed algorithm is demonstrated by experiments. View Full-Text
Keywords: microphone array; active virtual impedance; obstacle avoidance; TDOA; sound source microphone array; active virtual impedance; obstacle avoidance; TDOA; sound source
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Han, J.-H.; Kim, D.-H.; Hwang, M.-H.; Lee, G.-S.; Cha, H.-R. Active Virtual Impedance Control for Sound-Following Robots to Avoid Obstacles. Electronics 2019, 8, 522.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Electronics EISSN 2079-9292 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top