一种无线传感器网络环境下多机器人协作式声源定位方法

摘要

It is of practical significance to study the cooperative task execution of multi-robot.In order to solve the problem that the robot localization algorithm can not meet the requirements of multi-robot cooperative search,a new method for the narrowband sound sources localization of multi-robot based on wireless sensor networks is proposed.The received signal strength was used to estimate the global coordinates of multiple robots.the TDOA localization algorithm was used to calculate the relative distance between the robot and the sound source,combined with all-phase FFT algorithm to improve the estimation accuracy of relative distance.Finally,the distance measurement algorithm is used to locate global coordinates of the sound source.The method is tested in 4 WSN nodes and 3 robots.The experimental results show that this method can realize the three-robot cooperative sound source localization task,the localization accuracy can meet the requirements of sound source localization in the search and rescue occasions.%研究多机器人协作式任务执行具有现实意义.针对目前机器人声源定位算法不能满足多机器人协作式搜寻声源的场合,提出一种无线传感器网络(wireless sensor networks,WSN)环境下的多机器人窄带声源定位方法.该方法根据接收信号强度对多个机器人的全局坐标进行测距定位,利用到达时间差(time difference of arrival,TDoA)定位方法估计机器人与声源的相对距离,并结合全相位傅里叶变换(all-phase FFT,apFFT)算法提高相对距离的估计精度;最后通过测距定位算法得到声源的全局坐标值.在4个WSN节点和3个机器人组成的系统中进行方法测试.实验结果表明:该方法能实现三机器人协作式的声源定位任务,定位准确率较高,可满足搜救场合中声源定位的要求.