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Active audition using the parameter-less self-organising map

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Abstract

This paper presents a novel method for enabling a robot to determine the position of a sound source in three dimensions using just two microphones and interaction with its environment. The method uses the Parameter-Less Self-Organising Map (PLSOM) algorithm and Reinforcement Learning (RL) to achieve rapid, accurate response. We also introduce a method for directional filtering using the PLSOM. The presented system is compared to a similar system to evaluate its performance.

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Authors and Affiliations

  1. School of Information Technology and Electrical Engineering, University of Queensland, Brisbane, Australia

    Erik Berglund & Gordon Wyeth

  2. School of Software Engineering and Data Communication, Queensland University of Technology, Brisbane, Australia

    Joaquin Sitte

Authors
  1. Erik Berglund
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  2. Joaquin Sitte
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  3. Gordon Wyeth
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Correspondence to Erik Berglund.

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Berglund, E., Sitte, J. & Wyeth, G. Active audition using the parameter-less self-organising map. Auton Robot 24, 401–417 (2008). https://doi.org/10.1007/s10514-008-9084-9

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