Browsing by Author "Chen, Yao-Hsiang"

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Voice Control Design of a Mobile Robot Using Shared-Control Approach
(2017-01-01)
Chen, Yao-Hsiang
;
Song, Kai-Tai
;
聲音與音樂創意科技碩士學位學程
;
電控工程研究所
;
Graduate Degree Program of Sound and Music Innovative Technologies
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.