基于声定位的轮式机器人导引系统设计

Design of Guidance System for Wheeled Robot Based on Sound Localization

提出了一种轮式机器人导引系统的设计方案。该设计将传声器按四元十字阵摆放,并建立坐标系;以数字信号处理器(DSP)为主控芯片,通过现场可编程门阵列(FPGA)对声阵列信号进行A/D采集;采用到达时间差(TDOA)算法对带有声信标的轮式机器人进行测距测向,实现了在已知环境中对轮式机器人的声导引功能。通过实验验证该方法实时性好,简单易行,具有重要的实用意义。

A design of guidance system for wheeled mobile robot based on sound localization was proposed. The microphone array should be placed according to the four element cross array and coordinate system was established. DSP was used as the main controller. Signals from the microphone array were acquired through FPGA. Time difference of arrival（TDOA） algorithm was used to measure the distance and angle of the robot with acoustic beacon. In known environment it realized the guidance of the wheeled robot. The experiments showed that the system had good real-time performance,and was simple and easy to use with very im-portant practical value.