A Framework for Bluetooth-Based Real-Time Audio Data Acquisition in Mobile Robotics

摘要

This paper presents a novel framework addressing the fundamental challenge of concurrent real-time audio acquisition and motor control in resource-constrained mobile robotics. The ESP32-based system integrates a digital MEMS microphone with rover mobility through a unified Bluetooth protocol. Key innovations include (1) a dual-thread architecture enabling non-blocking concurrent operation, (2) an adaptive eight-bit compression algorithm optimizing bandwidth while preserving audio quality, and (3) a mathematical model for real-time resource allocation. A comprehensive empirical evaluation demonstrates consistent control latency below 150 ms with 90–95% audio packet delivery rates across varied environments. The framework enables mobile acoustic sensing applications while maintaining responsive motor control, validated through comprehensive testing in 40–85 dB acoustic environments at distances up to 10 m. A performance analysis demonstrates the feasibility of high-fidelity mobile acoustic sensing on embedded platforms, opening new possibilities for environmental monitoring, surveillance, and autonomous acoustic exploration systems.