基于无线自组网的机器人声源定位技术研究  

Research on Robot Sound Source Localization Technology Based on Wireless Ad Hoc Networks

作　　者：祁文涛 弋浩凡 王力 张潘頔 QI Wen-tao;YI Hao-fan;WANG Li;ZHANG Pan-di(Xi′an Aeronautics Computing Technique Research Institute,AVIC,Xi′an 710000,China)

机构地区：[1]中国航空工业集团公司西安航空计算技术研究所,陕西西安710000

出　　处：《航空计算技术》2025年第2期83-87,92,共6页Aeronautical Computing Technique

基　　金：HJSJ12073G项目资助。

摘　　要：研究了一种移动机器人编队的声源定位方法,旨在解决传统单一机器人在声源目标感知范围和定位精度方面的局限性。基于无线自组网技术和分布式声源定位技术,通过构建多个机器人麦克风阵列网络,扩展了对声源目标的空间探测范围,通过信息融合提高了声源目标位置估计的准确性。在此基础上,设计并实现了机器人编队声源探测系统,具备声源协同定位和持续声源轨迹跟踪的能力。实验结果表明,机器人编队声源探测系统具备较好的声源定位跟踪精度。在机场部署该系统可以实现对航空器起降过程,机场设施和周边环境的噪声监测,及时识别潜在安全隐患。This paper investigates a sound source localization method for mobile robot formations,aiming to address the limitations of traditional single robots in terms of sound source target perception range and localization accuracy.Based on wireless ad hoc networking and distributed sound source localization technologies,this paper constructs a network of multiple robot microphone arrays to expand the spatial detection range and improve the accuracy of estimation through information fusion.A sound source detection system for robot formations is designed and implemented,achieving sound source collaborative localization and continuous sound source trajectory tracking.Experimental results demonstrate that the robot formation sound source detection system has good localization and tracking accuracy.Deploying this system at airports can enable noise monitoring of aircraft takeoff and landing processes,airport facilities,as well as the surrounding environment,and promptly identify potential safety hazards.

关 键 词：机器人 声源定位 无线自组网 麦克风阵列 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]