An Acoustic Localization System Using Microphone Array for Mobile Robot

摘要

Robot audition system can greatly improve the adaptability of mobile robots especially in the case of robot vision system can't work effectively. So an acoustic localization system using microphone array for mobile robot is proposed in this paper. In order to localize the sound source target, the microphone array used in the system consists of four microphones which were placed respectively on the vertexes of regular tetrahedron because of sound's omni-directional property. According to the plane wave model of sound's propagation and the spherical wave model of sound's propagation, two different localization algorithms based on time delay of arrival are developed in this paper. The hardware and software of the experiment platform are also introduced in this paper. The experimental results show that the acoustic localization system can make the mobile robot rapidly and accurately reach the location of the sound source target.