中文摘要：

提出了融合机器人听觉和超声避障的自主声源搜索策略．搜索策略按优先级分成3个模块：声源确认、超声避障、声源定位搜索，通过优先级的判断确定当前执行模块．声源定位基于改进的时延估计定位方法实现，机器人在搜索并接近声源过程中利用超声避障．在室内环境下测试系统，实验结果证明在混响环境下机器人可以定位声源并且可以绕过障碍物接近并确认声源，该方法具有实时实现的有效性和应用性．

英文摘要：

An autonomous sound source search strategy composed of robot hearing and ultrasonic obstacle avoidance is proposed. According to the priority level, the search strategy is divided into three modules： source determination, ultrasonic obstacle avoidance, and sound source search. The current executing module is determined through the priority judgment. Sound source localization is realized based on improved localization method of time delay estimation. The robot searches and reaches the source with the ultrasonic obstacle avoidance method. The system is tested in room environment, and experiment results show that the robot is capable of localizing sound source in a reverberant environment, and approaching and confirming it without colliding obstacle. The method is proved efficient and practical enough for real-time operation.