基于场强差的机器人听觉导航与控制-控制科学与工程专业论文.docxVIP

基于场强差的机器人听觉导航与控制 基于场强差的机器人听觉导航与控制 THE NAVIGATION AND CONTROL OF THE ROBOT’S AUDITION WHICH IS BASED ON THE DIFFERENCE OF FIELD INTENSITY ABSTRACT The research that the navigation system of robot’s audition is an important branch of robotic research. it is an important mean to achieve human-computer interaction, robot and the environment interaction. In poor light conditions or when there are many obstacles,the navigation and path planning of visual-based robot is restricted. The research that the system of robot’s audition provide a new idea for these problems. Through the robotic auditory system design this topic can track particular sound source,and it use sound source field strength to achieve robotic auditory system navigation and control. It can identify particular sound signal through voice recognition technology and bandpass technology. Establish auditory system model of robot,designed two units of the model——microphone unit,pretreatment unit. Dispose sound signal that the robotic auditory system received. Designed the system of robotic auditory navigation and control then experiment on it. This paper designed a robot based on field strength difference auditory navigation method which has strong anti-interference ability,good practicability. In a complex unstructured space,for example,earthquake,fire rescue scene,robotic auditory navigation system can trace sound-source and orient moving goal depending on the target’s shout or sound of leaking pipe jet when visual,ultrasonic sensor can not play a role. KEY WORDS:robot audition, difference of field strength, sound location, speech recognition, bandpass ii 原创性声明 本人郑重声明 : 所呈交的学位论文 ，是本人在导师指导下，进行研究 工作所取得的 成果。除文 中已经注明引用的 内容外，本学位论文的研究成果不包含任何他人创作的、 己公开发表或者没 有公开发表的作品的内容。对本 论文所涉及的研究 工作做 出贡献的其 他个人和集体，均已在文中以明确方式标明。本学位论文原创性声明的 法律责任由本人 承担。 学位论文作者签名: 张芫 日期: 关于学位论文版权使用授权的说明 本人完全了解河北工业大学关于收集、保存 、使用学位论文的规 定。 同意如下各项 内容 :按照学校要求提交学位 论文的印刷本 和 电子版本:学校有权保存学位论文的印刷 本和电子版，并采用影印、缩印 、扫描、数字化或其它手段保存论文;学校有权提供目 录检索以及提供本学位论文全文或者部分的阅览服务 ;学校有