Yıl 2017, Cilt 18, Sayı 5, Sayfalar 897 - 907 2017-12-31
| | | |

## REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM

#### Hayrettin TOYLAN [1] , Erol TÜRKEŞ [2] , Evren ÇAĞLARER [3]

##### 289 442

Human-robot interaction (HRI) is a significant area of interest in robotics which has attracted a wide variety of studies in recent years. In order to provide natural human-robot interaction, robots will have to acquire the skills to detect and to integrate meaningfully information from multiple modalities. In this paper, a practical speech-controlled mobile robot car system is presented and discussed. In this study the developed Hidden Markov Model (HMM) with separate word recognition system and real-time control were obtained on a mobile robot. Mel-Frequency Cepstral Coefficients (MFCC) were applied as features for the control design of mobile robot. In the study, 270 speech commands (İLERİ=forward, GERİ=backward, DUR=stop, SAĞA=right, SOLA=left) which are collected from 54 different people were applied to a series of mathematical operations and 12 cepstral coefficients were derived. Therefore, a database was generated by 12 cepstral coefficients. Thus, HMM model was trained and tested according to database. Speech data were classified in two groups as 90% training data and 10% test data. The recognition success rate of test commands was measured 94%.

Hidden markov model, MFCC, Speech recognition, Mobile robot, Robot
• Pfeifer R, Bongard J. How the body shapes the way we think: A new view of intelligence. London, England: MIT Press, 2006.
Konular Mühendislik Araştırma Makalesi Yazar: Hayrettin TOYLAN Yazar: Erol TÜRKEŞ Yazar: Evren ÇAĞLARER
 Bibtex @araştırma makalesi { aubtda346121, journal = {ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering}, issn = {1302-3160}, eissn = {2146-0205}, address = {Eskişehir Teknik Üniversitesi}, year = {2017}, volume = {18}, pages = {897 - 907}, doi = {10.18038/aubtda.346121}, title = {REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM}, key = {cite}, author = {TOYLAN, Hayrettin and TÜRKEŞ, Erol and ÇAĞLARER, Evren} } APA TOYLAN, H , TÜRKEŞ, E , ÇAĞLARER, E . (2017). REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM. ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering, 18 (5), 897-907. DOI: 10.18038/aubtda.346121 MLA TOYLAN, H , TÜRKEŞ, E , ÇAĞLARER, E . "REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM". ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering 18 (2017): 897-907 Chicago TOYLAN, H , TÜRKEŞ, E , ÇAĞLARER, E . "REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM". ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering 18 (2017): 897-907 RIS TY - JOUR T1 - REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM AU - Hayrettin TOYLAN , Erol TÜRKEŞ , Evren ÇAĞLARER Y1 - 2017 PY - 2017 N1 - doi: 10.18038/aubtda.346121 DO - 10.18038/aubtda.346121 T2 - ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering JF - Journal JO - JOR SP - 897 EP - 907 VL - 18 IS - 5 SN - 1302-3160-2146-0205 M3 - doi: 10.18038/aubtda.346121 UR - http://dx.doi.org/10.18038/aubtda.346121 Y2 - 2019 ER - EndNote %0 Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM %A Hayrettin TOYLAN , Erol TÜRKEŞ , Evren ÇAĞLARER %T REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM %D 2017 %J ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering %P 1302-3160-2146-0205 %V 18 %N 5 %R doi: 10.18038/aubtda.346121 %U 10.18038/aubtda.346121 ISNAD TOYLAN, Hayrettin , TÜRKEŞ, Erol , ÇAĞLARER, Evren . "REAL-TIME CONTROL OF MOBILE ROBOT USING HMM-BASED SPEECH RECOGNITION SYSTEM". ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering 18 / 5 (Aralık 2017): 897-907. http://dx.doi.org/10.18038/aubtda.346121