Control System Shell of Mobile Robot with Voice Recognition Module

Abstract

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.