Voice control design of a mobile robot using shared-control approach

Yao Hsiang Chen, Kai-Tai Song

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Human voice provides a convenient and natural way to control a service robot. However, in practice simple voice commands are not sufficient to give continuous and safe motion of a mobile service robot in a complex environment. This paper presents a shared-control approach for voice remote control of a mobile robot. A remote control scheme for an omnidirectional mobile robot is proposed to overcome the delay-time problem of voice commands and maintain the safe motion of the robot. In this work, we combine the robot autonomy and human intention by using shared-control techniques. The human and robot interactive gains are obtained by computing posterior of free-space using a Bayesian recursive algorithm. Experimental results are presented to demonstrate the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages105-110
Number of pages6
ISBN (Electronic)9781538616451
DOIs
StatePublished - 27 Nov 2017
Event2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017 - Banff, Canada
Duration: 5 Oct 20178 Oct 2017

Publication series

Name2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
Volume2017-January

Conference

Conference2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
CountryCanada
CityBanff
Period5/10/178/10/17

Keywords

  • Bayesian recursive algorithm
  • Mobile robot
  • Shared control
  • Voice control interface

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