TY - GEN
T1 - Control system shell of mobile robot with voice recognition module
AU - Skrzypek, Andrzej
AU - Panfil, Wawrzyniec
AU - Kosior, Mateusz
AU - Przystalka, Piotr
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - The paper presents the final result of the project, in which the main objective was to develop and implement a semi-autonomous control system of the mobile robot equipped with a voice recognition software module. In the first part of the paper, the description of a mobile robot is given. Next, the main development process of the control system is described. It is shown that the proposed system is designed with the use of UML diagrams taking into account both software and hardware parts. In order to guarantee a partial autonomy of the robot, it is decided to apply a Bayesian-based behavioral controller. In such a way, the control system shell is obtained. In the implementation phase of the project voice recognition, Bayesian-based behavioral controller and command management functionalities were embedded into the robot as well as operator applications, allowing robot control with voice commands. Verification studies were carried out to show merits and limitations of the proposed solution.
AB - The paper presents the final result of the project, in which the main objective was to develop and implement a semi-autonomous control system of the mobile robot equipped with a voice recognition software module. In the first part of the paper, the description of a mobile robot is given. Next, the main development process of the control system is described. It is shown that the proposed system is designed with the use of UML diagrams taking into account both software and hardware parts. In order to guarantee a partial autonomy of the robot, it is decided to apply a Bayesian-based behavioral controller. In such a way, the control system shell is obtained. In the implementation phase of the project voice recognition, Bayesian-based behavioral controller and command management functionalities were embedded into the robot as well as operator applications, allowing robot control with voice commands. Verification studies were carried out to show merits and limitations of the proposed solution.
UR - https://www.scopus.com/pages/publications/85071484878
U2 - 10.1109/RoMoCo.2019.8787345
DO - 10.1109/RoMoCo.2019.8787345
M3 - Conference contribution
AN - SCOPUS:85071484878
T3 - 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings
SP - 191
EP - 196
BT - 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th International Workshop on Robot Motion and Control, RoMoCo 2019
Y2 - 8 July 2019 through 10 July 2019
ER -