中文摘要：

针对机器人听觉定位,提出了五个传声器组成的阵列作为机器人的耳朵,其中四个传声器组成的平面阵确定声源空间位置,另外一个传声器辅助完成声源位于机器人前后方的判断,并在改进的时延算法上实现声源的空间定位。系统在室内环境下测试,实验结果证明在混响环境下机器人可以实现空间声源定位,该方法具有实时实现的有效性和应用性。

英文摘要：

A five microphone array serving as robot ears is proposed for robot auditory localization. Sound source position in space is calculated by the planar array of four microphones,another microphone is used as an auxiliary unit to judge the source in front or rear of the robot,and localization is realized based on improved time-delay algorithm. The system was tested in room environment,and experiment results show that the robot is capable of localizing sound source in reverberant space. The method is efficient and practical enough for real-time operation.