Romansy 16 pp 339-346 | Cite as

Sound Source Detection System for Control of an Autonomous Mobile Robot, a Behaviour-Based Approach

  • Johanna Lantto
Part of the CISM Courses and Lectures book series (CISM, volume 487)


This paper describes a first implementation of an two-microphone system for sound source localization using the Modular Controller Architecture framework. The system was developed to be a part of an autonomous mobile robot and its behaviour-based control architecture. The goal was to enable the robot to react to sound stimulus and lay groundwork for environment perception using sound signals and sound recognition. The emphasis on the development of the system was on reacting to speech signals. The results of testing the system in stationary experiments, as well as in a real environment where the robot was able to move, are presented and discussed.


Sound Source Delay Line Real Environment Speech Sound Interaural Time Difference 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Johanna Lantto
    • 1
    • 2
  1. 1.Automation Technology LaboratoryHelsinki University of TechnologyEspooFinland
  2. 2.Arbeitsgruppe RobotersystemeTechnische Universität KaiserslauternKaiserslauternGermany

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