基于主动探测的移动机器人声源目标距离测定方法  

Distance Determination Method of Sound Source Target Based on Active Exploration for Mobile Robots

作　　者：孙昊[1,2] 刘贺洋 仲维灿 祖丽楠[1,2] 徐勤奇[1,2] 

机构地区：[1]河北工业大学控制科学与工程学院,天津300130 [2]河北省控制工程技术研究中心,天津300130

出　　处：《北京工业大学学报》2015年第1期37-41,共5页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(61305101);河北省自然科学基金资助项目(F2014202021);河北省自然科学基金资助项目(F2010000137)

摘　　要：针对移动机器人声源定位技术的研究大都只实现了对声源的定向,而无法获得准确的声源距离信息的问题,提出了通过移动机器人主动运动实现声源目标距离测定的方法,以及一种基于粒子群优化算法的最优探测点计算方法.通过仿真验证了该方法的可行性和有效性,并且在室内环境下进行测试.试验结果表明:移动机器人可以通过主动运动到达最优探测点,并且实现对声源目标距离的测定.The direction of sound source target can be currently obtained through the research on sound source localization of mobile robots; however, the accurate distance information cannot be obtained. In view of this problem, a method based on active movement of mobile robot is put forward to get the distance information of sound source target, and a method based on the particle swarm optimization algorithm is established to get the optimal detecting point. Simulation results show that this method is feasible and effective. Moreover, the test in the indoor environment shows that the mobile robot can reach the optimal detection point through active movement and obtain the distance information of sound source target.

关 键 词：移动机器人 声源目标定位 主动探测 粒子群优化 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]