Dissertation > Excellent graduate degree dissertation topics show

Study on Sound Source Localization for Mobile Robot Based on Time Delay of Arrival

Author: SunZuo
Tutor: YangPeng
School: Hebei University of Technology
Course: Control Theory and Control Engineering
Keywords: mobile robot sound source localization time delay of arrival neural network kalman filter
CLC: TP242
Type: PhD thesis
Year: 2012
Downloads: 120
Quote: 0
Read: Download Dissertation

Abstract


Along with the increasing expansion of application fields, mobile robots are facingincreasingly complex work environments. In all uncertain and unstructured environments whicha variety of information presented, mobile robots only rely on visual means to obtain information,is bound to reduce the environmental adaptability of the mobile robot, and thus limit their levelof intelligent decision. As the robot’s organ for processing sound information, the robot auditorysystem which is built from the idea of humanoid, has become an important research object inrobotics field. By using the physical characteristics of sound propagation, robot auditory systemcan be compatible with the visual system to compensate for its limitations, such as theperspective is limited, dependent on light and can’t pass through the non-translucent obstacles.Through researching target localization which is a basic problem in the field of environmentalperception, this thesis aims to realize mobile robot’s sound source localization based on timedelay of arrival in noise conditions by organically combining mobile robot technology withsound source localization technology. So, the following four research works have been done inthis thesis.(1) Based on the study of sound source localization method which is using microphonearray, in order to achieve accurate positioning for the sound target in3D space, and consideringthe system’s real-time, a tetrahedral microphone array is developed and produced, and then itsobtained sound information pass to mobile robot through data acquisition system, so a completerobot auditory system has been realized.(2) To solve the problem that there are many noises under actual working conditions, andimprove the performance of anti-noise and reverberation, two basic estimation methods for time delay of arrival, generalized cross correlation estimation and adaptive filtering, are studied. Andthe paper analyzs the performance of typical methods through simulation experiments,summarizs the application occasions, the advantages and disadvantages of the typical algorithms.Then the time delay of arrival estimation method based on the combination of generalized crosscorrelation and adaptive filter is studied.(3) According to the tetrahedral microphone array structure and sound propagation sphericalwave model, precise geometric localization calculation model has been established. On this basis,the far-field sound source localization calculation model can be derived. After performancesimulation analysis, a full-ranged sound source orientation method combined with robot’s activemovement has been presented. And by using neural network’s capability of nonlinear curvefitting and parallel computing, a sound source orientation calculation model based on BP neuralnetwork has been also presented.(4) To solve the problem which a large number of outliers exist caused by sensorobservation uncertainty and sudden strong interference, considering the relative motion betweenmobile robot and sound source, an anti-outliers double Kalman filtering method based oninnovation has been presented. Experimental results show that this method can improve system’sreliability by adjusting measurement noise covariance during continuous sound source targetlocalization and tracking.

Related Dissertations

  1. Development of the Platform for Compressor Optimization Design and Aerodynamic Optimization Design in the Transonic Compressor,TH45
  2. Algorithm Research on SINS/GPS Integrated Navigation Syste,V249.328
  3. Satellite Attitude Determination Based on Gyro and Star Sensor,V448.2
  4. Research on Transfer Alignment of the Missile Onboard the Aircraft,V249.322
  5. Maneuver Detection and Tracking with the Radar Rate Measurement,TN953
  6. Research on Feature Extraction and Classification of Tongue Shape and Tooth-Marked Tongue in TCM Tongue Diagnosis,TP391.41
  7. Study on Virtual Detector of Infrared Hyper-Spectral Image,TP391.41
  8. The Application of Fuzzy Control and Neural Network in Planar Double Inverted Pendulum,TP273.4
  9. Research on Visual Detection and Tracking of Mobile Robots,TP242.62
  10. Research of Visual Servoing in 4-DOF Robotic Manipulator,TP242.6
  11. Research on Visual Servo System of Mechanical ARM,TP242.6
  12. Design of Weapon Detection Device Control System,TP183
  13. Design of Gyro Stabilized Pod Control System,TP273
  14. Municipal tourism land use planning environmental impact assessment,X820.3
  15. Research on the Inteligent System of High Performance Concrete Mix Design in Zhujiang Triangle Area,TU528
  16. Study on Taste Characteristic of Taste Peptide Enzymatic Production from Oyster Base on A Neural Network Method,TS254.4
  17. Smart Control Research in Paddy Drying Based on BP Neural Network,S226.6
  18. BP network optimization based on genetic algorithm optimization of the biodiesel process,TE667
  19. Fire Fighting System Research for the Offshore Platform,U698.4
  20. The Research on Evaluation of Living Status Systems of Expressway Relocated People,D523
  21. Research on Inspection Technology of Dehydrated Garlic Slice Based on Computer Vision,TP391.41

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile