Robot Auditory Search Realization Based on Virtual Reality

摘要

A novel robot auditory search system is proposed in this paper. The system consists of a robot which has a microphone array corresponding to human's ears and a virtual reality robot teleoperation system. Sound source localization is realized based on time delay of arrival (TDOA) estimation using microphone array. The sound source search is realized via virtual reality system. Virtual robot and virtual environment are set up according to the real scene. Virtual robot is the agent of the real robot. Data glove is used to operate the virtual robot to complete the control towards the real robot. It can make the operator control the real robot to find the sound source fast and conveniently. The system was tested in leaky chemistry container mending: robot could reach the leaky point successfully and accomplish the mending task smoothly. A great deal of experiments prove that this search system is reliable and efficient.