基于声源定位的移动机器人导航系统-控制科学与工程专业论文.docxVIP

MOBILEROBOTNAVIGATIONSYSTEMBASEDONSOUNDSOURCELOCALIZATIONABSTRACTWiththecontinuousdevelopmentandimprovementofdigitalsignalprocessingtechnologyandacousticelectrictechnology,aswellasthelevelofhumanoidrobotimprovinginartificialintelligence,auditorysystem,asanimportantcomponentofthehumansenses,hasbecomeanimportantstudyinrobotresearch.Sincethe voicehasthecharacteristicstobypassthebarrier,Inrobotmulti-informationacquisitionsystem,Hearingcanbematchedwiththerobotvisiontomakeupitslimitednatureofvisionandthelimitationsthatcannotpassthroughthenon-translucentbarrier.auditoryrobotscanbeuseddangerousenvironments,aswellasserviceindustries. The contentofthis issueisthestudy oftheauditory systembasedon mobile robot .wealsodesigned andimplementedacompleteauditorynavigationsystem.Themethodofauditorysystemdesignbasedontimedifferenceisproposed.Accordingtothespecialcharacterofsoundsignalandbasicneedofcollectiontechnology,ithadbeenexploredtothemicrophonechoiceandthesignalpretreatment.Theprogrammablecounterarraywasadoptedtocapturethetimedifference.Inthispaper,soundsignalamplifier,waveformshaping, calculationof the soundsourceandsoftware implementation wasdesigned.On thisbasis,wedesignedasetofsoundsourcelocalizationsystem.ThesystemsprogrammingiscompletelydesignedaccordingtoC++reusabledesignpatterns,thereforeitcanbeeasilyaddedtotheotherapplications,andtheexpansionofitsfunctionsisalsoveryconvenient.Finally,CombinednavigationfunctionofthePioneer3-ATintelligentrobot,asetofsoundsourcelocation-basednavigationsystemwasdevelopedanddesigned.Experimentshasdoneandshowedthatthedesigncanmaketherobotrapidlyandaccuratelyreachthetargetsoundsourcelocation.KEYWORDS:mobilerobot；perception；auditory；soundlocalizationii原创性声明iiI本人);11illJh 明.所注交的学位论文，足本人在导师指导下 ? ，lHi研究上作所取仰的成果。 徐文中已纶沛明.; }羽的内容外，本学位论文的研究成果不包含任何他人创作的、已公11发表必f?没有公厅发炭的作品的内容 。对本论文所涉及的研究 作做州必íW 的只他个人和集体，均已有立:中以明确方式标明。水学位论文原创性户明的法伴员(f:山本人承担。学位论文作者的 才余树R则二)Cb?./2.(关于学位论文版权使用授权的说明J.lf，lj本人克今了解河北_[业人学关f收集、保存、使用学位论文的规定。1，;J忘h川、r-JJ!内也千版.)1来阴影正、缩的I、J