Limited Speech Recognition for Controlling Movement of Mobile Robot Implemented on ATmega162 Microcontroller

摘要

This paper describes about speech recognition implemented on ATmega162 microcontroller. The word (voice command) in a speech signal is applied for controlling movement of a mobile robot. The mobile robot will move according to the voice command in the speech signal. There are five commands, which are Indonesian language, used to control the movement of mobile robot. They are ldquomajurdquo, ldquomundurrdquo, ldquokirirdquo, ldquokananrdquo, and ldquostoprdquo used to command the mobile robot to move forward, move backward, turn left, turn right and stop respectively. The methods used in this research are Linear Predictive Coding (LPC) and Hidden Markov Model (HMM). LPC is used to extract word data from a speech signal. HMM is used to recognize the word pattern data, which are extracted from a speech signal. Sampling rate of the speech signal is 8 kHz and the speech signal is sampled for 0.5 seconds. Experiments were done in several variations of observation symbol number and number of sample. The experimental results show that the highest recognition rate that can be achieved by the system is 87%. The mobile robot can move in accordance with the voice command that is given to the robot.