Microphone array beamforming for mobile robot

Abstract

A moving robot audio system contains a simple microphone or more precise microphone array as an audio sensor. One of the main functions of audio system in the mobile robots is to help them in speaker localization. There are many possibilities to choose the methods for processing of audio information from the corresponding audio robot sensors. The goal in this article is to propose and test the microphone array adaptive beamforming and post-processing method of the sound signals received from each of the microphones in the microphone array. The analysis of the tests are shown a considerable improvement of the right direction of arrival with the proposed method when a person or speaker talk to the mobile robot.