Research on Sound Source Localization and Path Planning with SLAM Maps

A technical solution that combines the sound source localization with SLAM maps was proposed to realize the mapping of the sound source coordinates to the SLAM maps. Meanwhile, aiming at the low positioning accuracy and poor real-time performance of the sound source localization algorithms, the improvements to the traditional SRP-PHAT sound source localization algorithm were made. The microphone directivity model and hierarchical searching strategy were adopted to reduce the computational load, and the MSW automatic calibration mechanism was added to ensure the accuracy of sound source localization. After obtaining the direction and angle information of the sound source quickly and accurately, the accurate localization of the sound source target in the SLAM global map was realized by combining displacement measurement and coordinate conversion. Besides, an optimized A* path planning algorithm with a diagonal no-passing strategy was proposed to realize the path planning from the robot to the sound source target based on the SLAM map, which improve the reliability of obstacle avoidance to a certain extent. The experiment results show that effectiveness and superiority of the proposed algorithm.