Abstract
Acoustic tracking of a moving sound source is relevant in many domains including robotic phonotaxis and human-robot interaction. Typical approaches rely on processing time-difference-of-arrival cues obtained via multi-microphone arrays with Kalman or particle filters, or other computationally expensive algorithms. We present a novel bioinspired solution to acoustic tracking that uses only two microphones. The system is based on a neural mechanism coupled with a model of the peripheral auditory system of lizards. The peripheral auditory model provides sound direction information which the neural mechanism uses to learn the target’s velocity via fast correlation-based unsupervised learning. Simulation results for tracking a pure tone acoustic target moving along a semi-circular trajectory validate our approach. Three different angular velocities in three separate trials were employed for the validation. A comparison with a Braitenberg vehicle-like steering strategy shows the improved performance of our learning-based approach.
Original language | English |
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Title of host publication | From Animals to Animats 14 : 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Aberystwyth, UK, August 23-26, 2016, Proceedings |
Editors | Elio Tuci, Alexandros Giagkos, Myra Wilson, John Hallam |
Publisher | Springer |
Publication date | Aug 2016 |
Pages | 79-90 |
ISBN (Print) | 978-3-319-43487-2 |
ISBN (Electronic) | 978-3-319-43488-9 |
DOIs | |
Publication status | Published - Aug 2016 |
Event | The 14th International Conference on the Simulation of Adaptive Behavior - Aberystwyth University, Aberystwyth, United Kingdom Duration: 23. Aug 2016 → 26. Aug 2016 http://www.sab2016.org |
Conference
Conference | The 14th International Conference on the Simulation of Adaptive Behavior |
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Location | Aberystwyth University |
Country | United Kingdom |
City | Aberystwyth |
Period | 23/08/2016 → 26/08/2016 |
Internet address |
Series | Lecture Notes in Computer Science |
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Volume | 9825 |
ISSN | 0302-9743 |
Keywords
- Binaural acoustic tracking
- correlation learning
- lizard peripheral auditory system