| With the continuous development of electronic technology and inspired by naturecreatures, researchers began to apply auditory electronic devices in intelligent robotsfor environmental perception. The hearing system is an important symbol ofintelligent robots. Sound source localization (SSL) is one of the key researchdirections of robot audition and has a good prospect. Mobile robots could judgeobjects and the positions of other robots by SSL method, which provides the basis forthe realization of human-computer interaction and robotic-robotic interaction.In this thesis, a relative localization method based on SSL for mobile robots inoutdoor environments is presented. A mobile robot estimates the relative position ofnearby robots by making sound and receiving the sound signals. This thesis focuseson hearing based relative localization for small mobile robot in outdoor environments,and the relatively detailed work can be concluded as follows.1. The state-of-the-art of mobile robot localization is summarized. The merits anddemerits of common relative localization methods are analyzed. The cut-inpoint is found to solve the localization problem for multi-robot systems.2. Hardware&software platforms of small mobile robots MICE (multi-robot forintelligent cooperative exploration) are setup based on the module idea by usingARM-7microprocessors.3. The SSL device including a buzzer and an array of four microphones isdesigned. A rapid SSL algorithm is proposed according to the characteristics ofbuzzer and microphone array.4. A multi-robot coordinate localization algorithm is proposed. Based on thisalgorithm, the relative localization among all robots can be completed in theeffective area by using only two robots acted as sound sources in everypositioning period.5. The relative localization experiments are conducted in an outdoor environmentand the results are analyzed. A simple multi-robot formation experiment showsthat the proposed relative localization method is effective. |
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