Speech-based formation control of the multi-robot system

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• 作者：Kuo-Lan Su (1)
  Yung-Chin Lin (2)
  Bo-Yi Li (2)
  Jr-Hung Guo (2)
  
• 关键词：Pattern formation exchange control ; Multi ; robot system ; A* searching algorithm ; Phalanx pattern formation ; DC servomotors ; Wireless RF interface
• 刊名：Artificial Life and Robotics
• 出版年：2013
• 出版时间：February 2013
• 年：2013
• 卷：17
• 期：3-4
• 页码：367-372
• 全文大小：601KB
• 参考文献：1. Su KL, Chung CY, Liao YL (2011) A* searching algorithm based path planning of mobile robots. ICIC Express Letters Part B Applications 2(1):273鈥?78
  2. Song T, Yan X, Liang A, Chen K, Guan H (2009) A distributed bidirectional auction algorithm for multi-robot coordination. IEEE international conference on research challenges in computer science, Shanghai, December 28鈥?9, pp 145鈥?48
  3. Grabowski R, Navarro-Serment L, Paredis C (2000) Heterogeneous teams of modular robots for mapping and exploration. Autonomous Robots 8(3):293鈥?08 CrossRef
  4. Guo JH, Su KL (2011) Ant system based multi-robot path planning. ICIC Express Lett Part B Appl 2(2):493鈥?98
  5. Liu S, Sun D, Zhu CG (2010) Motion planning of multi-robot formation. IEEE/RSJ international conference on intelligent robots and systems, Taipei, October 18鈥?2, pp 3848鈥?853
  6. Liu S, Sun D, Zhu C (2010) Coordinated motion planning of multiple mobile robots in formation. In: Proceeding of the 8th World Congress on Intelligent Control and Automation, Jinan, July 6鈥?, pp 1806鈥?811
  7. Javier AM, Breitenmoser A, Rufli M (2011) Multi-robot system for artistic pattern formation. IEEE international conference on robotics and automation, Shanghai, May 9鈥?3, pp 4512鈥?517
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  9. Sadaoki F (1989) Digital speech processing synthesis, and recognition. Marcel Dekker, INC
  
• 作者单位：Kuo-Lan Su (1)
  Yung-Chin Lin (2)
  Bo-Yi Li (2)
  Jr-Hung Guo (2)
  
  1. Department of Electrical Engineering, National Yunlin University of Science and Technology, Douliou, Yunlin, 640, Taiwan
  2. Graduate School Engineering Science and Technology, National Yunlin University of Science and Technology, Douliou, Taiwan
  
• ISSN：1614-7456

文摘

The article presents multiple pattern formation control of the multi-robot system using A* searching algorithm, and avoids the collision points moving on the motion platform. We use speech recognition algorithm to decide the various pattern formations, and program mobile robots to present the movement scenario on the grid-based motion platform. We have been developed some pattern formations to be applied in game applications, such as long snake pattern formation, phalanx pattern formation, crane wing pattern formation, sword pattern formation, cone pattern formation and so on. The mobile robot contains a controller module, three IR sensor modules, a voice module, a wireless RF module, a compass module, and two DC servomotors. The controller of the mobile robot can acquire the detection signals from reflect IR sensor modules and the compass module, and decide the cross points of the aisle. The mobile robot receives the command from the supervised computer, and transmits the status of environment to the supervised computer via wireless RF interface. We develop the user interface of the multi-robot system to program motion paths for various pattern formation exchanges using the minimum displacement. Users can use speech to control the multiple mobile robots to execut pattern formation exchange. In the experimental results, users can speak the pattern formation. The speech recognition system receives the signal to decide the pattern formation. The multiple mobile robots can receive the pattern formation command from the supervised computer, and arrange the assigned pattern formation on the motion platform, and avoid other mobile robots.