Estimating Doppler shift with a coarse cochlear filterbank

In this work, RoBat, a biomimetic sonarhead mounted on a mobile robot is presented as a platform in which to study perception in bats. After addressing the relation between bats and robots, a biologically plausible model of the bat's cochlea is described. The model consists of a filterbank with...

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Bibliographic Details
Main Authors: Carmena, J.M., Hallam, J.C.T.
Format: Conference Proceeding
Language:English
Subjects:
Acoustic sensors
Biological system modeling
Doppler shift
Filter bank
Informatics
Intelligent sensors
Military computing
Mobile robots
Navigation
Robot sensing systems
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Summary:In this work, RoBat, a biomimetic sonarhead mounted on a mobile robot is presented as a platform in which to study perception in bats. After addressing the relation between bats and robots, a biologically plausible model of the bat's cochlea is described. The model consists of a filterbank with an artificial neural network (ANN) connected at the end of it. The ANN is used for extracting the frequency of the received echoes. Thus, Doppler shifts, which play a fundamental role in bat navigation, can be successfully estimated. Experiments with simulated and real data show the efficiency of the system when used on a LEGO mobile robot.
DOI:10.1109/IROS.2000.894608