Autonomous mobile robot navigation based on omnidirectional voice commands
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Data
2023-01-13
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Universidade Estadual Paulista (Unesp)
Resumo
Atualmente, existe uma falta de pesquisas que envolvam o emprego da língua portuguesa como mecanismo de controle de robôs móveis. Aplicando os conceitos de energia, entropia e zero crossing rate, foi possível extrair as características principais contidas em cada uma das quatro classes de comandos de voz reconhecidas pelo dispositivo: frente, trás, direita e esquerda. Obtidas as informações que melhor separam as classes, um classificador do tipo support vector machine foi implementado, visando classificar corretamente comandos de voz, da categoria speaker-dependent, externos ao conjunto de treinamento da rede neural artificial. Por fim, o classificador foi embarcado em um robô móvel, permitindo a navegação baseada em língua portuguesa.
Nowadays, there is a lack of research involving the use of the Portuguese language as a control mechanism for mobile robots. Applying the concepts of energy, entropy and zero crossing rate, it was possible to extract the main characteristics contained in each of the four classes of voice commands recognized by the device: front, back, right and left. Obtaining the information that best separates the classes, a support vector machine classifier was implemented, aiming to correctly classify voice commands, from the speaker-dependent category, external to the training set of the artificial neural network. Finally, the classifier was embedded in a mobile robot, allowing navigation based on the Portuguese language.
Nowadays, there is a lack of research involving the use of the Portuguese language as a control mechanism for mobile robots. Applying the concepts of energy, entropy and zero crossing rate, it was possible to extract the main characteristics contained in each of the four classes of voice commands recognized by the device: front, back, right and left. Obtaining the information that best separates the classes, a support vector machine classifier was implemented, aiming to correctly classify voice commands, from the speaker-dependent category, external to the training set of the artificial neural network. Finally, the classifier was embedded in a mobile robot, allowing navigation based on the Portuguese language.
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Reconhecimento de voz, Inteligência Artificial, Robótica, Speech Recognition, Artificial Intelligence, Robotics