A study on robust control of mobile robot by voice command

Generally, it is possible to control the motion by using information on the robot's own postures, because a type of motion and gesture produces almost the same pattern of noise every time. In this paper, we describe an voice recognition control system for robot system which can robustly recognize voice by adults and children in noisy environments. We evaluate the performance of robot control system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized side-lobe canceller technique and a feature-space noise suppression using criteria. Voice activity periods are detected based end-point detection.