Auditory Feature Driven Model Predictive Control for Sound Source Approaching

doi:10.1007/s12555-022-0616-4

CASIA OpenIR > 中国科学院工业视觉智能装备工程实验室 > 精密感知与控制

	Auditory Feature Driven Model Predictive Control for Sound Source Approaching
	Wang, Zhiqing1,2 ; Zou, Wei1,2 ; Zhang, Wei3 ; Ma, Hongxuan1,2 ; Zhang, Chi1,2 ; Guo, Yuxin 1,2
发表期刊	International Journal of Control, Automation, and Systems
ISSN	1598-6446
	2023
卷号	22 期号:2 页码:1-14
通讯作者	Zou, Wei(wei.zou@ia.ac.cn)
产权排序	1
文章类型	SCI期刊
摘要	Sound source approaching is a typical task for the robot with auditory sensing. Many existing methods are based on sound source localization (SSL), and utilize the explicit location as the control input. To reduce the localization computation cost and improve the robustness against noise and reverberation, we propose a novel auditory feature driven model predictive control (AFD-MPC) method, which directly uses the auditory feature as the control input. First, a new convolution-ternarization based interaural time difference (CT-ITD) estimation method is proposed, which is more robust to noise and reverberation by eliminating signal spikes and irrelevant components. Second, a new system model is derived and established, which directly links the robot motions and the interaural time difference (ITD) feature. Third, AFD-MPC is realized based on the proposed CT-ITD feature estimation and system model. The states at multiple future time steps are predicted based on the system model, and a control objective function considering both target approaching and motion smoothness is designed. By involving the multi-step future states in the control objective function, the control outcome is more smooth on motion trajectory and more robust to instantaneous interferences. A series of experiments such as static and dynamic sound source approaching are conducted on a mobile robot equipped with a small-sized 6-microphone array to validate the effectiveness of our methods.
关键词	Source approaching control, interaural time difference, robotic audition, sound source localization.
学科领域	机器人控制
学科门类	工学 ; 工学::控制科学与工程
DOI	10.1007/s12555-022-0616-4
关键词[WOS]	LOCALIZATION ; ROBOTICS
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Program of China[2018YFB1306303] ; National Natural Science Foundation of China[61773374] ; Major Basic Research Projects of Natural Science Foundation of Shandong Province[ZR2019ZD07]
项目资助者	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Major Basic Research Projects of Natural Science Foundation of Shandong Province
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:001155974000018
出版者	INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
是否为代表性论文	是
七大方向——子方向分类	智能机器人
国重实验室规划方向分类	实体人工智能系统决策-控制
是否有论文关联数据集需要存交	否
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/52077
专题	中国科学院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Zou, Wei
作者单位	1.中国科学院自动化研究所 2.中国科学院大学 3.蒙古第一机械集团公司
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang, Zhiqing,Zou, Wei,Zhang, Wei,et al. Auditory Feature Driven Model Predictive Control for Sound Source Approaching[J]. International Journal of Control, Automation, and Systems,2023,22(2):1-14.
APA	Wang, Zhiqing,Zou, Wei,Zhang, Wei,Ma, Hongxuan,Zhang, Chi,&Guo, Yuxin.(2023).Auditory Feature Driven Model Predictive Control for Sound Source Approaching.International Journal of Control, Automation, and Systems,22(2),1-14.
MLA	Wang, Zhiqing,et al."Auditory Feature Driven Model Predictive Control for Sound Source Approaching".International Journal of Control, Automation, and Systems 22.2(2023):1-14.

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