Study on navigation system of mobile robot based on auditory localization

A navigation system of mobile robots which works in the acoustic environment is studied based on auditory perception mode in this paper. In this kind of application, if the target is outside the scope of the visual sensor, only the auditory sensor can be used for robot to detect the target. The navigation model proposed by this paper has five units which are sensor unit, map establishing unit, information fusion unit, decision making unit and motion control unit. The sensor unit has visual sensor, sonar sensor and auditory sensor. The first two sensors are used to construct environment map. And the auditory sensor is used to realize target localization based on bionics method. When the target is detected, the decision making unit will plan a safe path to the target based on the environment information. After the robot approach the object, it will syncretize the three kinds of sensors information to get accurate target position so as to enhance the navigation speed and veracity. There has mainly discussed the key technologies of auditory system. At last, the experiments for getting sound position information validate the auditory apperception module.