Design Of Intelligent Vehicle Voice Control System Based On Android Platform

In recent years,with the development of mobile robot,remote control,artificial intelligence and other technologies,the control of mobile robot by remote terminal has been widely used.Aiming at this phenomenon,this paper combines ROS intelligent vehicle,Android terminal and speech recognition,and conducts in-depth research.or ROS intelligent vehicle,the paper firstly designs the hardware and software system of the vehicle body,and then proposes an improved proposal distribution and resampling strategy for particle degradation and diversity loss in the implementation of particle filter-based SLAM(Simultaneous Localization and Mapping).In the design process of Android voice control terminal,firstly,the communication between ROS and the two Android platforms is realized.Secondly,a smart car voice control system based on the Android platform is designed by combining ROS with baidu online voice recognition.The main research contents of this paper include the following parts:The paper firstly designs the hardware and software system of intelligent car terminal.The hardware system design includes the main control board,laser radar,dc motor and other hardware equipment selection and drive board circuit design,and the realization of the connection and communication between the hardware.The design of the software system includes the functional modules needed for the operation of the smart car,including the software nodes of lidar,driving motor and inertial measurement unit,as well as the establishment of algorithm nodes such as positioning,navigation and control.In the process of the Android software system design,first compares the cloud speech recognition and speech recognition,the advantages and disadvantages of local determines the efficiency and higher accuracy in order to identify the cloud speech recognition technology to voice control instructions for identification.Secondly compares Rosjava and RosBridge two kinds of communication mode,identified in the form of Rosjava for Android and ROS communication between the two systems,which will identify the result of the transmission to the ROS car side,implement the Android voice control of the car.In this paper,the real-time positioning and synchronous mapping were studied,and the proposal distribution and resampling strategy of rbpf-slam were optimized.Firstly,lidar and odometer data were used as the basis of proposal distribution to improve the accuracy of pose estimation.Secondly the effective number of particles are introduced to judge the degradation degree of the whole,to determine whether resampling operation,and optimize the sampling strategy,sampling strategy by interval resampling,retained the medium weight particle,particle resampling operation of high and low weight,to ensure the diversity of particles and improve the efficiency of the sampling process,and through the matlab simulation proved that the improved RBPF-pose estimation and maps of the reign of SLAM build process has been improved.