Respeaker USB Mic Array - Adjusting Parameters

I’ll be mounting the mic array on a moving robot that produces quite a bit of background noise for the mic. In order to get clearer pickup for human speech and minimize background noise, what parameters should I adjust and how? I have tried tinkering with some of them already such as FREEZEONOFF, HPFONOFF, GAMMA_NS/NN, and MIN_NS/NN without much success.