Optimal path planning using recursive Bayes filter for sound source search by quadrotor helicopter equipped with microphone array

Abstract

In this paper, a quadrotor helicopter with microphones is considered for the sound source localization from the sky. Since the noise emitted by the helicopter itself is loud, it is difficult to capture the target sound signal clearly and in order to obtain accurate sound source position information, it is necessary to take the uncertainty in the measurement into account. Recursive Bayesian Estimation is utilized to handle the uncertainty and this paper proposes to introduce predictive control method to search the sound source so that the helicopter is possible to localize the target accurately.