The Development Of Sound Tracking Features Algorithms For Robot Head Movement Control

Lau, Chee Yong (2018) The Development Of Sound Tracking Features Algorithms For Robot Head Movement Control. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Time Different of Arrival (TDoA) is a method of sound localization.It is using to localize the sound source in omnidirectional in front of robot face.The area in front robot head will be divided into eight quarter zones.Each zone indicate that the robot can face to eight directions after determined the time different for the sound reach microphones from same source.The time different of arrival to the sound sensor is calculate by using Trilateration Principle.This project is a combination of electronic and mechanical design.For the electrical part, an Arduino Board and microphone sensor are used in this project.For the mechanical part,2 servo motor are used to perform neck mechanism.The robot will be facing its head to the sound source with the servo motor neck mechanism that control yaw and pitch rotation respectively.

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