Table 1 Condition of experiments
From: Self-localization method for mobile robot using acoustic beacons
Robot velocity | 0.25 | m/s |
Sampling frequency of wheel rotation | 5 | Hz |
Sampling frequency of microphones | 100 | kHz |
Sound characteristics | Â | Â |
Sound type | Linear up chirp | |
Sweeping time | 0.1 | s |
Sweeping frequencies | Â | Â |
Sound 1 | 12 – 14 | (kHz) |
Sound 2 | 14.5 – 16.5 | (kHz) |
Sound 3 | 17 – 19 | (kHz) |
Sound 4 | 19.5 – 21.5 | (kHz) |