移动机器人三维空间听觉定位系统设计  

Design of Auditory Location System for Mobile Robot in Three-dimensional Space

作　　者：谷岳[1] 祖丽楠[1] 杨鹏[1] 孙昊[1] 

机构地区：[1]河北工业大学,天津300130

出　　处：《计算机仿真》2011年第9期195-198,共4页Computer Simulation

基　　金：河北省自然科学基金项目(F2010000137)

摘　　要：研究移动机器人听觉系统优化问题,针对准确判断发声源位置,为提高机器人听觉系统在空间中的搜索能力,设计了一种基于声达时间差的移动机器人听觉定位系统。整个系统分为信号采集及预处理、捕捉声达时间点、定位计算和机器人控制四个部分。通过建立正四面体结构的麦克风阵列,感知三维空间中目标发出的声音信号,采用声电信号处理技术,实时捕捉声音到达时间点;对定位的数学模型测定目标的方位信息进行仿真。结果证明,听觉系统可实现机器人在三维空间中对声源目标的实时定位,定位精度较高。In order to enhance the searching performance of the robotic auditory system in three-dimensional space, an auditory localization system for mobile robot based on time difference of arrival （TDOA） is presented in this paper. The whole system should be divided into four parts including the signal acquisition and preprocessing, capturing time of sounds arrival, position calculation and robotic control. The tetrahedral structure of microphone ar- ray can apperceive signals from three-dimensional space. The system can capture arrival time of sounds by using real -time acoustic signal processing. The measurement of target position depends on mathematical model of position cal- culation at last. Experiments show that the design can make the robot find the position and reach the target rapidly and accurately.

关 键 词：移动机器人 听觉定位 麦克风阵列 三维空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]