Voice control of a mobile robot by ZedBoard

U sklopu ovog rada ostvareno je glasovno upravljanje Pioneer P3-DX mobilnim robotom korištenjem ROS-a. Aplikacija za glasovno upravljanje, napisana u Python programskom jeziku, izvodi se na ZedBoard razvojnom sustavu sa Xillinux Linux distribucijom. U mikrofon, koji se spaja na ZedBoard, izgovaraju se predefinirane glasovne naredbe koje se pomoću Pocketsphinx bibloteke dekodiraju u tekstualne naredbe. Sukladno tekstualnoj naredbi mijenjaju se linearna i kutna brzina. Ta se promjena objavljuje u cmd\textunderscore vel topic, na koji je pretplaćen P3-DX robot, što rezultira promjenom gibanja robota.The main goal of this thesis was to achieve voice control of the Pioneer P3-DX mobile robot by using ROS. Voice control application, written in Python programming language, runs on the ZedBoard development system with Xillinux Linux distribution. Predefined voice commands are spoken into the microphone that is connected to ZedBoard. Those commands are decoded into textual commands by using Pocketsphinx library. Depending on the textual command linear and angular speed values are changed. Those changes are published into cmd\textunderscore vel topic, on which P3-DX is subscribed, resulting in a change of robot's motion