Voice Command untuk Mengontrol Robot Beroda Berbasis Easyvr Module

Abstract

Pada skripsi ini direalisasikan sistem kontrol robot beroda dengan perintah suara (voice command). Sistem kontrol tersebut dirancang dengan dua pilihan pengenalan suara (voice recognition) yaitu independent speaker recognition dan dependent speaker recognition. Sistem dengan independent speaker recognition hanya mengenali apa yang diucapkan oleh pemberi perintah suara dan digunakan ketika semua orang ingin mengontrol robot beroda tersebut. Sebaliknya, sistem dengan dependent speaker recognition mengenali pemilik perintah suara tersebut dan digunakan ketika robot beroda ingin dikontrol oleh satu orang. Dalam sistem kontrol tersebut digunakan lima perintah suara (voice command) dari masing-masing pilihan, yaitu MAJU, MUNDUR, KANAN, KIRI, HENTI untuk dependent speaker dan FORWARD, BACKWARD, LEFT, RIGHT, STOP untuk independent speaker. Sistem kontrol tersebut dirancang dengan menggunakan modul pengenal suara sebagai modul utama. Modul tersebut berfungsi untuk mengenali suara yang masuk dalam sistem, sehingga dapat dijadikan suatu perintah suara (voice command) oleh mikrokontroler untuk mengontrol robot beroda. Selain itu juga digunakan mikrofon nirkabel untuk menghantarkan suara (voice) ke modul utama. Penggunaan mikrofon nirkabel bertujuan agar robot dapat dikontrol hingga jarak ±10 meter dari pengendali. Setelah sistem diuji dengan memberikan perintah suara (voice command) pada robot beroda melalui mikrofon nirkabel didapatkan bahwa mikrofon nirkabel bekerja dengan baik hingga jarak ±7 meter pada ruang tertutup ( ada halangan) dan ±9 meter pada ruang terbuka (tanpa halangan), sementara tingkat keberhasilan sistem dalam mengenali perintah suara (voice command) yang diberikan yaitu FORWARD = 84%, BACKWARD = 85%, LEFT = 78%, RIGHT = 81%, STOP = 82% untuk independent speaker dan MAJU = 97%, MUNDUR = 96%, KANAN = 97%, KIRI = 95%, HENTI = 95% untuk dependent speaker.

In this thesis wheeled robot control system is realized with a voice command. The control system is designed with two choices of voice recognition that is independent speaker recognition and dependent speaker recognition. The independent speaker recognition system recognize what is spoken only and is used when all people want to control the robot wheels. The dependent speaker recognition system recognize the owner of the voice command and it’s used when a wheeled robot to be controlled by one person. In the control system used five voice command of each option, namely MAJU, MUNDUR, KANAN, KIRI, HENTI for dependent speaker system and FORWARD, BACKWARD, LEFT, RIGHT, STOP for independent speaker system. The control system is designed by using a voice recognition module as the main module. The function of the module is to recognize the given voice in the system, so by a microcontroller the voice can be used as a voice command to control wheeled robot. The control system is also designed using wireless microphone to send the voice to the main module. The use of wireless microphones intended that the robot can be controlled up to a distance ± 10 meters from the controller. The system was tested by giving voice commands on a wheeled robot via wireless microphones and found that wireless microphone works well up to a distance of ±7 meters in a closed space (with obstacle) and ± 9 meters in open space (without a obstacle), while the success rate of the system in recognizing voice commands that given ie FORWARD = 84%, BACKWARD = 85%, LEFT = 78%, RIGHT = 81%, STOP = 82% for independent speaker system and MAJU = 97%, MUNDUR = 96%, KANAN = 97%, KIRI = 95%, HENTI = 95% for dependent speaker system.