Implementation Voice Command System for Soccer Robot ERSOW

Abstract

ERSOW is a wheeled soccer robot that is included in the Middle Size League (MSL) category in the Indonesian Wheeled Robot Soccer Contest division (Wheeled KRSBI). Wheeled soccer robot has Artificial Intelligent (AI) for kick the ball, receive the ball, feed the ball, recognize the ball, recognize the opponent, recognize the goal, receive instructions from the base station, and so forth. This research focuses on giving instructions to ERSOW through the base station using the voice command system. The system uses speech as input in the form of analog signals. Speech recognition is done by using a deep speech package so as to produce output in the form of text. The system will run on the Robot Operating System (ROS). The result of speech recognition using 13 trained speakers when tested by one speaker in different distance show average Word Error Rate (WER) 0.46% and Word Accuracy (W Acc) is 99.54%. When tested by five different speaker using trained speakers show average WER is 4.37% and W Acc is 95.63%, when using non trained speakers show average WER is 28.25% and W Acc is 71.75%. Base station implementation shows the simulation of the robot when the user gives instruction by his or her own voice.