%0 Journal Article
%T Sound-based Collaborative Direction Estimation for Swarm Robotic Systems<br>面向群智能机器人系统的声音协作定向
%A JIANG Jian
%A ZHAO Jie
%A LI Li-Kun
%A <br>姜健
%A 赵杰
%A 李力坤
%J 自动化学报
%D 2007
%I 
%X 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 of direction estimation of swarm-based robotic systems.
%K Swarm robotic systems
%K sound-based direction estimation
%K collaborative direction estimation
%K fuzzy inference system<br>群智能机器人系统
%K 声音定向
%K 协作定向
%K 模糊推理系统
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=C63EAB17CC0E52CC&yid=A732AF04DDA03BB3&vid=27746BCEEE58E9DC&iid=E158A972A605785F&sid=44FDB9366EDDFA2B&eid=A22854835F81B3F8&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=15