Sound source target localization system of mobile robot

摘要

Target localization system is one of the basic aspects for mobile robot navigation. One of the most popular navigation way is the navigation based on visual. But, this way is limited by the light and the field of view so that it can't accurately detect the targets in special environments. To resolve the above problem of target localization way based on visual, this paper has studied the sound source target localization system. The key technologies of this system have been discussed. They are the structure of the microphone array, the multi acoustic source separation in dynamic environment, sound source localization method in mixed noise environment, the time delay estimation method in the mixed-noise environment, multi-sensor information fusion, and so on. Finally, an auditory system based on microphone array was found to locate the sound source target of 3-D space and some emulational experiments validate the correctness of this auditory system and the accuracy and realtime of the sound source localization.