Study on target localization system based on auditory of mobile robot

摘要

Based on the target localization of mobile robot, this paper has studied the localization system based on auditory perception mode. A model of the auditory system is established using bionics method so that the robot have the ability to handle the sound information and enhance its ability adapt to the environment. By designing the efficient denoising method to sound information, the robot can separate the right target sound source from the complicated sound. Then, the robot computes the orientation of target sound source using the sound localization method with high real-time. Finally, emulational experiments validate the correctness of the auditory system and the accuracy of the sound localization. They show that the robot is capable of localizing the sound source target accurately and real-time.