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摘要: 针对群智能机器人系统的特点, 提出了一种基于单一频率信号的声音协作定向方法. 设计了基于声强差原理的麦克风传感器阵列. 利用该传感器阵列接收声强信号的特点, 通过模糊推理得到了声强信号与声源方向之间的关系. 实验结果表明该方法能够满足群智能机器人系统的定向要求.Abstract: A collaborative direction estimation method based on single frequency sound is proposed for swarm-based robotic systems. A sense array of microphones based on interaurla intensity difference (IDD) is designed. According to the characteristics of sound intensity signals of the sense array, the relationship between sound intensity signals of sensors and sound source direction is deduced with fuzzy inference system (FIS). Experimental results show that this direction estimation method can meet the requirements ofdirection estimation of swarm-based robotic systems.
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