Optimization Of Active Detection Point For Mobile Robot In The Sound Source Localization Task

Since the 21 st century, the economic strength of each country is growing rapidly. Research on intelligent mobile robot technology is changing everyday which the application field also has been greatly expanded. In recent years, a popular research topic is that the intelligent mobile robot system oriented service in the indoor environment. This paper combine the mobile robot motion control with Sound source localization techniques supported by the National Natural Science Foundation of China –the Study on Location of Sound Source Target Based on Active Exploration for Mobile Robot(No.61305101) in order to improve accuracy and practicability of locating carried out by mobile robot towards human speaker. So, the following research works have been done in this thesis.(1)Relocating the target based on ensuring the mobile robot can accurately obtain target angle information of sound source at the first locating, then established calculation model and distance calculation model. The angle and distance information of sound source target can be obtained accurately through twice locating.(2)The second probe point is inaccuracy due to the uncertainty of the mobile robot motion. However, the selection of the second probe point is the key point to get the sound source target distance information, so an excellent method based on the particle swarm optimization algorithm is established to obtain the optimal detection point towards this problem.(3)When the sound source target is not stationary but movable, the calculation of the optimal detection point will be conducted on the basis of target tracking. This paper introduces the target track principle and related tracking algorithm, and conducted a preliminary probe point initiative optimization which lay the foundation for further research of selecting the best follow-up probe points.The results of MATLAB simulation shows that this method is of high effectiveness and applicability as well as the positioning accuracy. It is of great significance to promote the development of mobile robot perception technology.