Intelligent Mobile Robots Localization System Combined ZigBee and Distributed Microphone Array

摘要

A mobile robot localization design scheme combined ZigBee and distributed microphone array is introduced. Firstly, the frame of localization system composed of eight-element microphones array, two ZigBee point to point communications modules are proposed. Secondly, generalized cross-correlation (GCC) function based on time delay of arrival (TDOA) is introduced to the system design. In order to improve the localization effect, the PHAT transform function is used synchronously in the system. Otherwise, to increase the distance between two microphones for improving space resolution and avoiding signal frequency aliasing, broadband frequency-continue-changed audio is selected as the sound source. Thirdly, ZigBee technology based on CC2430 chip is used in the design scheme, it is used to encrypt localization result and exchange data between microphone array and mobile robot. The data is transmitted conveniently and safely using the Zig-Bee technology. Finally, Experiments were performed. The experiment results show that the design can calculate the position of the sound source accurately, it takes less than 1.5 seconds to locate the position of the sound source for each data, it is faster than that based on high resolution spectral estimation.