Guided by Hearing: Robotic Motion Planning for Precision in Gas Leakage Localization

This research proposes a motion planning framework for a robot equipped with a bioinspired hearing system to enhance its sound source localization, specifically for gas leak detection. Similar to how animals use movements, such as changing positions or rotating their ears, to precisely localize a sound source, this framework enables the robot to improve its estimation of both direction and distance through strategic motion. The proposed method uses the time difference of arrival (TDOA) between two wideband optical microphones, obtained through this motion, to accurately estimate the direction and distance of a sound source. We first introduce the underlying concepts and validate the approach using experimental data collected with a collaborative robotic arm. We then demonstrate the implementation of the method on a quadruped robot. The results show that the method can be effectively deployed on mobile robots, achieving directional and distance accuracy for gas leak localization.