Microphone Array-Based Sound Source Localization And Tracking System

Abstract

Sound source localization and tracking system plays an important role in searching for traces of life, and the location of the person waiting to be rescue can be known through sound sensors. This paper will take intelligent cart as the carrier to discuss the design and implementation of sound source localization technology in the practical application. The system uses STM32F103RCT6 as the control core, with good real-time performance, simple algorithm and higher estimation accuracy, which is more convenient for embedded implementation and application of time delay estimation algorithm for sound source localization. The electric steering gear system is a multi-variable, nonlinear, strong coupling, time-varying complex system. The traditional PID control algorithm is simple and easy to adjust the parameters, but it cannot meet the high precision control requirements of the electric steering gear. Therefore, this paper proposes a particle swarm algorithm to optimize the PID parameters and control the PWM pulse width of the single chip microcomputer timer to realize the control of the running speed, forward, stop and steering of the intelligent cart.