Voice Control of Dual-Drive Mobile Robots - Survey of Algorithms.

Maciej Sajkowski MSc. Eng.

Silesian University of Technology
Institute of Theoretical an Industrial Electrotechnics
U1. Boleslawa Krzywoustego 2
44-100 Gliwice,Poland
tel. +48 32 237 12 47, +48 32 237 28 02,
fax +48 32 237 13 04
e-mail macieks@polsl.gliwice.pl

Abstract
This paperpresents survey of the algorithms applied to
voice control of electromechanical appliances,
especially voice controlled mobile robots or intelligent
wheelchair for handicapped people. Second part
of the paper, after introduction, is devoted to voice
recognition algorithms. Beside short voice processing
algorithms review, the need of voice recognition results
verifcation method was pointed out. The method
proposed by author was presented in the third part. In
order to improve robotized-wheelchair operation safety
and functionality, it is necessary to implement
additional environment recognition sensors. Some
issues concerning the ultrasonic sensors are referred in
fourth section af thepaper. The data acquiredfrom the
sensors can be used by obstacle avoidance and path
planning algorithms. These categories of algorithms
and methods are presented in fJih part of the paper.
There is brief review of master control algorithms in
the sixth section. In !he last part the conclusionsfiam
the survey are listed andfirture work of author in area
of robotized-wheelchair is proposed. Additionally
detailed list af references is enclosed.
1. Introduction
Mobile wheeled robot or wheelchair are examples of
nonholonomic systems [22][ 171.Advanced control of
this vehicle type is subject of research for many
research groups [6l[Sl[lO1[22][17][26][27][28]. The
robotized wheelchair is an example of use the robotic
technology to assist people. In opposition to holonomic
systems, which motion is limited. The mobile robots
have free of motion on the plane of flat or ofice.
Additionally, the drive system used in that kind of
mobile robot has enough power to carry the person, so
safety issues are very important for that type of vehicle.
There are a few different methods of steer for mobile
robots or wheelchairs. One method is to command the
robot by voice through special interface, which plays
role of the master control circuit for the dual-motor
drive controller [8][17][28][25]. Taking into
consideration classical steering methods - different
from the voice control, it is common that there is
relatively low probability of error .generation in the
control circuit layer. In case of the voice control there
is more difficult situation because the control circuit
might generate recognition error. The most dangerous
error for vehicle control is substitution error, which
means that recognized command is interpreted as
opposite command for example “left” is interpreted as
“right”. The probability of substitution error depends
on the commands language. Situation described above
is very probable in Polish language. Words meaning
“left” and “right” have very high acoustic similarity
[ I l l . This is why there is a strong need to implement
recognition results verification algorithm, which is the
author subject of research, but there is also n e c e s s q to
implement in voice commanded robot and specially in
wheelchair, additional sensors, which can increase
safety of the mobile vehicle. As it comes from the
literature, in order to improve safety, there are
implementation of advanced techniques of environment
recognition in vehicles controlled by classical methods
like joystick [26][10][27]. Thus implementation of
these sensor data processing algorithms in voice
controlled vehicle is the state of art of the voice
control. It is possible to use sensor data not only to
detect and avoid obstacles, but to find the optimal
trajectory between two points in h o w n or unknown
environment [ 18][ 19][28].
The aim of the paper is to present bow voice and other
data is processed to obtain proper and safe robot or
wheelchair movement. The paper presents in a few
words what algorithm categories have to he taken into

Third International Workshop on Robot Motion and Control, November 9-1 1, 2002 387
consideration in case of designing voice controlled
robot or wheelchair. Content of the paper is the result
of literature review an work performed by author in
area of voice control of electric wheelchairs.
2. Voice Processing Algorithms
There are some voice processing algorithms which lead
to achieve high recognition accuracy. Previously there
were used only isolated words speech recognition
technique, presently it is possible to use continuous
speech recognition, what although requires more
powerful hardware, but can give highest accuracy of
recognition results and recognition unit response in
shorter time. The foundations of the voice recognition
algorithm are described in [23][25][24].
In order to perform speech recognition the speech data
should be processed and stored in database as a
utterance pattern. Speech pattern is usually described
with feature vector, which consists of coefficients
achieved in utterance spectral analysis process. That
stage can be called “training” of the speech data.
Speech recognition is similar to training but data
obtained through signal analysis are compared with
pattern stored before.
One of the method of speech recognition process can
be performed as follows:
- Acquisition of voice signal through
microphone and signal filtering,
- Short-term signal analysis including Fast
Fourier Transform calculation,
- Linear Predictive Coding coefficients
calculation,
- Feature extraction from Linear Predictive
Coefficients and spectral parameters for
example local signal energy maximum, which
is called formant,
- Likelihood of pattern matching calculation for
the speech feature vectors of recognized
utterance.
The recognition process could be strictly connected
with language model, which describes the utterance at
phonetic level, basing on the features extracted from
speech. The recognition system could be language
sensitive or not. That depends on the speech features
being extracted in recognition process. In every
language it is possible to distinguish a number of states
(phonemes) which are basic phonetic language unit,
However different languages have different phonemes
set, so if recognition algorithm is based on phonetic
information it improves its performance and accuracy
but the recognizer is suitable only for one language.
The following methods or their combination are widely
used for speech data pattern matching :
- probabilistic algorithms using Hidden Markov
Models [25][23][24] [SI,
- techniques utilizing artificial intelligence like
Neural Networks [5].
Hidden Markov Models describe the sequence of
speech features vectors as a piecewise stationary
process. The HMM is usually represented as finite state
automaton build from set of states and corresponding
388
transition between states. The single state could
describe a phoneme. For each utterance from trained
vocabulary Hidden Markov Model is created. In case
of neural network systems, the network outputs are
used as estimates of probability for each phonetic state
analogously to HMM. In both algorithm categories the
recognition result is the uttcrance pattern, which bas
highest likelihood function value to recognized
acoustic signal. The most likely utterance is determined
from probabilities matrix describing phonetic models
using Viterbi algorithm. The methods described above
give always recognition result but there is a question if
the result is correct. There have to be defined threshold
of probability, below which the recognition result is not
reliable and shouldn’t be taken into consideration at all.
Situation like that requires the recognition process to
be repeated or means that recognized acoustic signal is
noise. The decision if the recognition result is correct,
incorrect or coming from noise should be made at the
control system level. The situation described above is
common to all voice recognition algorithms and the
designer of voice control application should be aware
of that.
In voice command applications there are implemented
commercially available recognition engines [28] or
specially designed [SI. It is hard to evaluate voice
recognition performance basing only on results
presented in papers. For example there is no precisely
defined criterion for measure the voice recognition
accuracy. This is because the comparison would had to
be made under the same conditions likc identical
vocabulary, room acoustics, microphone type , operator
voice and so on. There are available in literature some
comparisons of the voice recognition algorithm
software implementations [5]. As it comes from that
comparison it is gainful to implement algorithms based
on the hybrid neural networks-HMM technique,
however using methods listed above separately can
also give a good result. As it was mentioned before
there is a necessity to use recognition results
verification algorithm I case of voice command
similarity. Using voice analysis software like “Matlab”
toolbox “Colea”[20] it is possible to evaluate command
set for voice control interface. There are shown on the
pictures the waveforms and spectrogram of three
voice commands. The first and second utterances mean
“left” and “right” commands, the third is “forward”.
The commands are spoken in Polish language. It could
be noticeable from spectrograms that words meaning
“left” and “right” are similar. As it comes form the
calculations made using the mentioned toolbox for
“Matlab” software, there is a possibility of substitution
recognition error appearance between the two opposite
commands (“left” and “right”). It was also confirmed
in the experiments with voice recognition unit. The
method for solving that problem was developed and the
experimental verification results are described in the
paper.
The voice recognition in mobile robot could be not
only used to identify simple motion commands like
described above but can also provide additional
information to control system and play role of
advanced user interface. The various aspects of that processor. It could identify up to 25 words. The voice
issue are referred in [25] and many other works. recognition algorithm was based on Hidden Markov
Models For each trained word, there were special
register, where the recognition result was stored and
could be read to a file. The processor was trained in
the speaker dependent mode. The experiment was
performed in quiet room and a typical head-mounted
electret microphone was used.
Basing on the recognition results the data for neural
network was prepared. The two-layer feedforward
neural network was designed and simulated using the
,,Matlab-simulink” software and ,,Neural Network
Toolbox”. The first layer neurons have sigmoid
threshold function and the second layer neurons have
linear function. Additionally the one input preceptron
was connected to the network output to digitize the
network output.
Fig 1. Waveform and spectrogram
At the beginning stage of the experiment the network
for command “lewo” (“left”)
x Io: was trained with series of recognition results for “left”
and “right” command obtained from voice recognition
module. For the “right” command 75 percent was
correct result of the recognition and 25 was substitution
error with the “left” command. The simulation of
network fed with random data fiom training set
brought correct result. The next stage of the experiment
was mining and simulation for recognition result of
0 100 200 300 400 500 600 700 “left” command recognition result set. The effect of
tr111si the experiment was correct classification of previously
trained data. So designed neural network architecture
was suitable for data classification.
For the consecutive experiment the recognition result
set was consisted from data obtained from recognition
module registers corresponding to ,,left” and ,,right”
command. The data was used to train neural network..
When the command was recognized correctly the
network output was 1 and for w n n g recognition result
network output was 0. In that case the neural network
Fig.2 Waveform and spectrogram
for command “prawo” (“right”) algorithm was divergent. As conclusion 60m that
.. .”
In‘ experiment was the need of different training data
organization.
In the next experiment part the data set was composed
*om recognition registers of 4 commands:
“left”,”right”,”start”,”srop”.
The following cases was taken into consideration:
-2 1. L J - cnrrect “right” command recognition
o ion 200 301) 400 500 600 700 800 - wrong “right” cnmmand recognition
- wrong “left” command recognition as “right”
command (substitution error)
- correct command left recognition.
The value 1 in output data was corresponding to the
fmt case in input data and the 0 value from output data
was corresponding to remaining recognition results
” 0 100 200 300 400 SW 600 700 800 cases.
Fig.3 Waveform and spectrogram For such organized learning data the neural network
for command “naprz6d” (“forward”) was trained with backpropagation Levenberg-
Marquand algorithm and fed with the &own data.
The task realized with network was distinction the
correct “right“ command recognition from recognition
3. Recognition results verification method error, substitution error or correct different command
recognition.
The voice recognition module used in the experiment Proper classification for each 6 o m the cases listed
was based on the commercial voice recognition above was achieved as the result of the experiment.
389
Basing on the experiment one could claim that, it is
possible to improve recognition accuracy basing on
simple neural network algorithm. In order to achieve
full recognition results verification it is necessary to
use that method for each trained command, what
requires to build separate neural network for each word
from trained vocabulary. Due to necessity of network
training using large voice recognition results set it
could be advantageous to use adaptive learning
algorithm to use c w e n t and previous recognition
results to adjust neural network weights. Currently
available voice recognition units bring long delay in
the control circuit. Voice recognition process could
take from 250 milliseconds up to 3 seconds. It is
necessaty to use, beside voice recognition results
verification method, additional techniques to provide
sufficient safety level for mobile vehicle. However
application of two recognition modules, where one of
them is triggered when the othcr is processing
command could be a method of improving control
circuit reaction time in case of operator mistake, but
there is also a need of other emergency solution. That
role could play sensor and path planning algorithms.
4. Sensor Data Processing Algorithms
The classical path planning method requires full
knowledge about the surroundings of the moving
vehiclc before performing any control actions. Sensor
based planning uses information coming from sensors
to calculate the optimal path [4]. The most common
sensor type used for obstacle detection are laser range
scanners and ultrasonic sensors [1][2][10][22]
[261~271~281~291~71.
The first mentioned type of sensor is quite complicated
and relatively cxpensive device, thus it is not good
solution for electric wheelchair. However there is
interesting way of utilizing laser beams in detecting
obstacles. The laser pointers mark lines on the surface
and the CCD camera detects deformation of the image
so it can detect both convex and concave obstacles
1271. Much more common are ultrasonic sensors. The
sonar sensors have some limitations although it is
possible to apply them effectively if the robotic
application designer is aware of the limitations [I].
When using two or more ultrasonic sensors at the same
time the crosstalk phenomenon appears, what means
that one sensor picks up the another sensor echo
[26][7]. Solution for that drawback is to apply
advanced fire algorithm for ultrasonic sensors
[2][13][26]. It is possible to generate firing schedule of
the multiple sensors where each sensor generates two
consecutive simals with individual delay between
them. A good idea is to use adaptive fire strategy in
which delays between adjacent sensor firing are
modified depending on the crosstalk intensity level or
other devices using ultrasonic sensors presence
[2][26]. Another algorithm is based on the generating
by each transducer pseudo random sequence of the
signal and analyzing the received signal by the DSP
processor to calculate the correlation function between
390
the original and receivcd sequence. This also allows to
eliminate crosstalks and ultrasonic noise [ 131.
If ultrasonic transducer (emitter and receiver with one
membrane) is used, it is impossible to measurc
distance to very close object, because the membrane
after sending signal cannot receive it immediately, in
order to avoid interpreting own pulses as the retuming.
It influences on minimal measuring range
[7][26].There is also a menace of missing the obstacle
when ultrasonic signal is reflected at wide angle and it
doesn’t return to the receiver [1][26].
For a short distance it is possible to use infrared
obstacle detection, which is a inexpensive method and
it could give good result in connection with ultrasonic
sensor. Eventually mechanical sensors like
microswitches could be used to detect collision if the
obstacle is not registered by ultrasonic or infrared
sensors. There is also an advanced and sophisticated
techniquc of collecting information about environment
of the robot or wheelchair based on the image analysis
algorithm. The image is acquired by the CDD camera
and processed in computer. That kind of sensor is very
powerful but requires personal computer, what is not
always possible in area of robotic wheelchairs [12][27].
To achieve proper path it is necessary for a robot to
navigate in its environment. The basic navigation
techniques are relative position measurements.
To calculate relative movement of the robot it is
possible to use the following methods [7]:
- optical encoders for dead reckoning
- inertial navigation with accelerometers.
Dead reckoning is a technique which bases on the
measurements of speed for each driving wheel and
leads to determine current location of the robot from
the previous position and calculated path.
Magnetic or optical encoders are rather common
scnsors utilizcd by that method.
Complete path calculation algorithm depends on the
vehicle kinematics. Some examples can be found in
[7]. Because of the possibility of enor that technique
can be used in connection with accelerometers or
periodically corrected by the localization system like
GPS or different navigation system 1271.
In order to determine position of the robot there are
used map based navigation 171. In this case information
rctrieved from sensor of the robot are utilized to
generate local map of the surrounding environment.
The local map is usually compared with global map,
stored in robot controller memory to resolve current
position. The category of algorithms is known as map
matching algorithms. That kind of methods can be used
in indoor environments and require information from a
few types of sensors, called as sensor fusion [27].
5. Path Planning Algorithms
Basic motion planning task was formulated in [18][9]
and it is as follows: Assuming that:
- robot is a single rigid object
- motion of the robot is not limited by its
kinematics,
 - it can move in two dimensional ,known static
space containing the obstacles as then set of
fixed rigid objects,
- Exact location of the obstacles is known to
robot,
- There are two points in the workspace of the
robot : the initial and target position.
The problem is to generate continuous path for the
robot from the initial position to the target point
without touching the obstacles.
The problem can be solved in the following steps:
- Defining a graph representing geomehically
surrounding environment,
- Yerfonning a graph search to find a connected
component between the node containing the
start point and the node containing the
destination point.
The graph structures, describing the environment of
the robot can vary, depending on the detailed method.
The most common algorithms are based on one of the
following. approaches: the Voronoi graph approach,
visibility roadmap approach, the cell decomposition
approach, and the potential field approach.
The visibility graph method was developed by Lozano
Perez [21]. The obstacles are approximated with
polygons. All of the other obstacles vertices visible
from opposite obstacle vertex are connected with that
vertex. The connecting line must not intersect other
obstacle region. From the connecting lines the graph is
generated, the initial and goal positions of the robot are
also connected with visible vertices. As the complete
graph is build it is searched for shortest path. Taking
into account that real robot is not a particle and has
physical dimensions, it necessary to use obstacle
growing [ZI] technique, to enlarge obstacles
dimensions so the real robot does not touch them.
Another algorithm is based on the cell decomposition
approach, which is originally based on the dividing
two-dimensional map of the robot environment into
rectangular regions. Each region is classified as free or
obstacle region. Obstacle regions are recursively
subdivided until minimal region size is reached. There
is a graph build from the obtained cells.
The cells are nodes and adjoining sides are arcs. Each
arch gets a weight proportional to the distance between
adjacent cells calculated from line segment connecting
midpoints of the adjacent cells sides. Graph is
searched for shortest path between initial and goal
nodcs. Advanced solution for the method was
presented in [3]. The algorithm called occupancy grids
is a variation of that method. The idea of the algorithm
is to divide space into rectangular regions and for each
region determine the probability of the obstacle
presence basing on the sensor information. Optimal
path search algorithm lays on the minimum probability
calculation for cells from initial to target position.
Another common method of path planning, widely
used in all kinds of mobile robots, is The Voronoi
Graph based approach [4]. It comes from defining
Voronoi Set as a set of points located on the plane,
equidistant from two closest obstacles. Line segments
or curves defining shortest distances from the starting
and final points are added to the Voronoi Set; In the
next step graph is being constructed to describe the set
and f m l l y the graph is being searched for the minimal
path from initial point to the goal position. The
advantage of that method referring to sensor based
navigation, is possibility of obtaining distance
measurement directly from sensor data [4]. Another
method for solving the path planning task is potential
fields algorithm [15][25]. In that approach the
mathematical model is being constructed assuming
that:
- The robot and obstacles are negatively
charged particles,
- the goal is positively charged particle and its
field attracts the robot
- the robot bas is the only particle that has an
ability to move
- the repelling forces generated by e 9 h obstacle
field and attracting force of the goal bas to be
calculated
- the objective of the robot is to pursuit to the
global minimum of the repelling force, which
means the goal position.
The problem for that methods are local minimums,
where robot can be trapped in. This method stands high
requirements before data processing hardware.
6. Structure of the Control System and
Master Control Algorithms
Most of the control system designs in area of robotic-
wheelchairs requires appreciable processor capacity,
which seems to be provided only by utilization of
personal computer [1][6][26][28][29][12]. The
structures of control systems are hierarchical. Robot
controller can assist the operator of the device on
various levels depending on situation. This ranges from
no assistance of automatic control system in case of
basic movements to full navigation of the vehicle in
case of task planning control. There can be
implemented control system consisting from few units
outfitted with local intelligence. The units can
exchange (share) information between each other and
use it depending on the control mode [26].Various
control structures have in common application of
different control layers responsible for specific task
l i e : general obstacle avoidance, door passing, wall
following, goal reaching etc. In work referred in [28]
probabilistic reasoning algorithm, based on Bayesian
Networks was implemented in master control system.
That method is suitable to use in case of incomplete
and uncertain information about the robot operating
environment and causality existence. Different
approach is presented in [29] where the fuzzy-logic
based algorithm for the obstacle avoidance and
navigation is proposed. In that solution control system
requires the following information from sensors:
- the distance between the robot and the nearest
obstacle,
- the angle between the robot and the nearest
obstacle,
39 I
 the angle between the robot current direction
and the line connecting the robot current
position and the goal position.
The controller is based on the 36 rules and as it was
proven by experiments works properly in environment
containing obstacles.
7. Conclusions
All of the algorithms referred in parts 4-6 havc been
successfully used for many years in area of robotics.
Adding voice recognition to mobilc robots means
additional signal which has to be taken into
consideration by a master control circuit. Otherwise
adding sensors and data processing algorithms to the
voice controlled wheelchair improves safety of the
device but it is necessary to consider sensor limitations
and drawbacks. It is advantageously to combine more
than one sensor types.
Voice commanding, steering and control of wheeled
devices as car-like robots or wheelchair stands high
requirements before voice recognition algorithm
because of safety considerations. Designing voice
control application, it is not only necessaiy to take in
attention various human-machine interface aspects
appearing in telecommunication or computer voice
recognition application [25], hut it is also necessary to
focus on localization and motion planning algorithm
for mobile vehicles as well [6][22][27][28].
As it come from analyzed literature, it is possible to
design control structure of the robotic-wheelchair using
hierarchical architecture. The master control circuit
could be artificial intelligence unit which implements
fuzzy logic or expert system techniques. Basing on the
material included in the paper it is author intention to
implement some of the referred algorithms in
robotized wheelchair control system, which is currently
under development.
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