FPGA-Based Robust Wireless Speech Motion Control for Home Service Robot Subject to Environmental Noises

In this paper, a robust speech recognition system for the recognition of the speeches subjected to environmental noise is designed and implemented on FPGA to control a home service robot wirelessly. An empirical mode decomposition is used to separate the clean speeches from the speech signals contam...

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Bibliographic Details
Published inInternational journal of fuzzy systems Vol. 19; no. 3; pp. 925 - 941
Main Authors Pan, Shing-Tai, Chang, Cheng-Yuan, Tsai, Yi-Heng
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Springer Berlin Heidelberg 01.06.2017
Springer Nature B.V
Subjects
Artificial Intelligence
Background noise
Computation
Computational Intelligence
Embedded systems
Engineering
Fuzzy sets
Management Science
Markov chains
Methods
Motion control
Noise
Operations Research
Robot control
Robot dynamics
Robots
Robust control
Service robots
Signal processing
Speech
Speech recognition
Voice recognition
Empirical mode decomposition
Field programmable gate array
Robust speech recognition
Genetic algorithm
Fuzzy vector quantization
Home service robot
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ISSN1562-2479
2199-3211
DOI10.1007/s40815-016-0222-9

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Summary:In this paper, a robust speech recognition system for the recognition of the speeches subjected to environmental noise is designed and implemented on FPGA to control a home service robot wirelessly. An empirical mode decomposition is used to separate the clean speeches from the speech signals contaminated by environmental noise. To improve the recognition speed, instead of continuous hidden Markov model (CHMM), Discrete HMM (DHMM) is used here to reduce the computation load during speech recognition. However, to compensate the decreased speech recognition rate using DHMM, this paper uses fuzzy vector quantization (FVQ) on the modeling of DHMM to improve the speech recognition rates. It will be shown that the computation time just increases a little, while the speech recognition rates increase much when the FVQ is applied. Finally, combining a wireless module, a FPGA-based speech recognition system is designed to control the motions of a home service robot wirelessly via speech commands under some environmental noises. The performance of the designed system will be demonstrated in the end of this paper.
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ISSN:1562-2479
2199-3211
DOI:10.1007/s40815-016-0222-9