REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM

Hayrettin TOYLAN; Erol TÜRKEŞ; Evren ÇAĞLARER

doi:https://doi.org/10.18038/aubtda.346121

Makale detayları

REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM

Yazarlar:

Hayrettin TOYLAN | Erol TÜRKEŞ | Evren ÇAĞLARER

Yayıncı:

Eskisehir Technical University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering 2017 Vol.18 Issue 5, pp.897-907

Belge Tipi:

Makale

Yayın Tarihi:

12/2017

Belge Dili:

Türkçe

Document ID (Org No.):

2000417099

pISSN:

2667-4211

DOI:

https://doi.org/10.18038/aubtda.346121

Özet:

 


Human-robot
interaction (HRI) is a significant area of interest in robotics which has
attracted a wide variety of studies in recent years. In order to provide
natural human-robot interaction, robots will have to acquire the skills to
detect and to integrate meaningfully information from multiple modalities. In
this paper, a practical speech-controlled mobile robot car system is presented
and discussed. In this study the developed Hidden Markov Model (HMM) with
separate word recognition system and real-time control were obtained on a
mobile robot. Mel-Frequency Cepstral Coefficients (MFCC) were applied as
features for the control design of mobile robot. In the study, 270 speech commands
(İLERİ=forward, GERİ=backward, DUR=stop, SAĞA=right, SOLA=left) which are
collected from 54 different people were applied to a series of mathematical
operations and 12 cepstral coefficients were derived. Therefore, a database was
generated by 12 cepstral coefficients. Thus, HMM model was trained and tested
according to database. Speech data were classified in two groups as 90%
training data and 10% test data. The recognition success rate of test commands
was measured 94%.　


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Makale detayları

REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM

Yazarlar: Hayrettin TOYLAN | Erol TÜRKEŞ | Evren ÇAĞLARER

Yayıncı: Eskisehir Technical University

Ana Başlıklar: Uygulamalı fizik

Dergi: Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering 2017 Vol.18 Issue 5, pp.897-907

Belge Tipi: Makale

Yayın Tarihi: 12/2017

Belge Dili: Türkçe

Document ID (Org No.): 2000417099

pISSN: 2667-4211

DOI: https://doi.org/10.18038/aubtda.346121

Sayı

Yazarlar:

Hayrettin TOYLAN | Erol TÜRKEŞ | Evren ÇAĞLARER

Yayıncı:

Eskisehir Technical University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Anadolu University Journal of Science and Technology A - Applied Sciences and Engineering 2017 Vol.18 Issue 5, pp.897-907

Belge Tipi:

Makale

Yayın Tarihi:

12/2017

Belge Dili:

Türkçe

Document ID (Org No.):

2000417099

pISSN:

2667-4211

DOI:

https://doi.org/10.18038/aubtda.346121