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 delaywith 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?