VOICE CONTROLLED NAVIGATION

SYSTEM FOR LAND VEHICLE

Guided by,

Prof.S.Gajendran, Project by,

Prof.G.Muralidharan,
Jaffer Ali.A
2009608010
 OBJECTIVE

To develop one of the most simple and easiest man

machine interface.

To help physically challenged people interact with their

surroundings conveniently and effectively.
 DESCRIPTION OF THE PROJECT

To design, fabricate and test a Holonomic robot which is

controlled by voice command. The user will give the voice
commands to the Personal computer and PC recognizes the
command and gives the signal to the robot. Then the robot
will act as per the command received. All the movements are
controlled by microcontrollers and the robot is self-powered
by rechargeable battery.
 WHY PC NOT DSP PROCESSOR

Reliable.
User interaction will be better.
Program can be modified according to the
requirement with lesser difficulty.
 VOICE COMMANDS RECOGNIZABLE

• Forward.
• Left Forty Five.
• Right Forty Five.
• Make Curve.
 THE MAIN TECHNIQUE USED FOR
VOICE RECOGNITION

Correlation – Correlation is done by

matching or comparing the voice
command with the reference signals
stored in the database.
STEPS INVOLVED IN THE PROJECT

• Training Phase
• Voice Recognition
• Transmission of command to the
Robot
 TRAINING PHASE

A database is created in the PC and the

voice commands which the robot can
understand are stored in that database. This
database creation and storage are done by a
software called LabVIEW.
 VOICE RECOGNITION

The voice command is received from

the user and it is correlated with the
reference voice signals in the database
and hence the command is recognized.
 TRANSMISSION OF COMMAND

Once the speech is recognized the

signal is sent from the PC to the
Holonomic robot through the RF signal.
All the movements are controlled by
micro controllers and the robot is self-
powered.
BLOCK DIAGRAM-TRANSMITTER
SECTION
BLOCK DIAGRAM-RECEIVER SECTION
TECHNICAL DETAILS
SAMPLING
Sampling is
the reduction of a
continuous signal
to a discrete
signal.
 SAMPLING RATE USED

11000 Samples per second

THRESHOLD VALUE USED

1 to 17
ALIASING
Aliasing
refers to an
effect that
causes
different
signals to
become
indistinguisha
ble when
sampled.
CORRELATION
 SOFTWARE
LabVIEW is a graphical programming
environment used by millions of engineers and
scientists to develop sophisticated
measurement, test, and control systems using
intuitive graphical icons and wires that resemble
a flowchart.
It consists of Block Diagram Panel and Front
Panel.
FRONT PANEL

This is one of the

places where the
user will be able to
input data to the
program and view
results. In this
window there are
various menus with
input and output
controls on them.
BLOCK DIAGRAM PANEL

This is the
place where you
create the
underlying code
for the program.
DATABASE CREATION

During the execution

of the program the
voice input is
received from the
user and are stored
for reference
OUTPUT OF CORRELATION

Unknown word
is correlated with
the reference
signal and the
speech is
recognized
H
O
L
O
N
O
M
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R
O
B
O
T
MECHANICAL DESIGN
The Mechanical Design Comprises of 3 Steps.
Design of the chassis.
Selection of suitable mechanical components for my
design(L-clamp, Coupler, screws).
Coupling holonomic wheels with motor.
CHASSIS DESIGN
Material chosen –
Aluminum of thickness
3mm.
The model of the chassis
along with the wheel is
shown in the picture.
 CHALLENGE FACED IN CHASSIS
DESIGN

The angle between the adjacent sides of chassis should

be perfectly 120 degrees. And the DC motors and the
wheels must be in the perfect centre of the sides where it
is attached.
 OMNI WHEEL - SPECIFICATIONS

o Diameter - 64mm
o width - 24mm
 FEATURES OF OMNI WHEEL
Two degrees of freedom.

Robot with three omni wheels can be programmed in

such a way that it can move along a curve.

The robot can move in any degrees.
SPECIFICATION OF DC MOTOR
 High torque DC Motor with Metal
Gearbox and off centred shaft.

 Features
 100RPM 12V DC motors with
Metal Gearbox
 6mm shaft diameter
 Gearbox diameter 37 mm.
 Motor Diameter 28.5 mm
 Length 63 mm without shaft
 Shaft length 15mm
 300gm weight
 32kgcm torque
FEATURES OF ATMEGA32
 Peripheral Features
 – Two 8-bit Timer/Counters with Separate
Prescalers and Compare Modes
 – One 16-bit Timer/Counter with Separate
Prescaler, Compare Mode, and Capture
 – 8-channel, 10-bit ADC
 – Programmable Serial USART
 – Master/Slave SPI Serial Interface
 – Programmable Watchdog Timer with
Separate On-chip Oscillator
 – On-chip Analog Comparator
DRIVER IC – L298N
The L298 is an integrated monolithic circuit in
a 15-lead Multiwatt and Power SO20
packages. It is a high voltage, high current
dual full-bridge driver designed to accept
standard TTL logic levels and drive inductive
loads such as relays, solenoids, DC and
stepping motors. Two enable inputs are
provided to enable or disable the device
independently of the input signals. The
emitters of the lower transistors of each bridge
are connected together and the corresponding
external terminal can be used for the
connection of an external sensing resistor. An
additional supply input is provided so that the
logic works at a lower voltage.
RF TRANSMITTER RF RECEIVER
MODULE MODULE
CALCULATIONS INVOLVED IN THE
PROJECT
 VELOCITY
CALCULATIONS
v=r*ω
ω = 2 * ╥ * N / 60
v = linear velocity
r = radius of the wheel
ω = angular velocity
N = rpm of DC motor
contd…
v=r*ω
d = 64mm
r = 64 / 2 * 10^-3 m
w = 2 * 22 / 7 * 100 / 60
v=0.335 m/s
v=33.5 cm/s
FORWARD
REVERSE
 CONCLUSION

Voice controlled Robot is designed and Fabricated. RF

communication is used to transmit command signal from
PC to the Robot. It is tested in different rooms. The voice
is recognized clearly in the noiseless room. If the words
are uttered as in the training phase, the accuracy is 100%.
If not so and in the noisy environment the efficiency of
voice recognition is less.
THANK YOU