PDFファイル 2L3 「小型飛行ロボットとAI」

The 28th Annual Conference of the Japanese Society for Artificial Intelligence, 2014

- 1 -

J4ðÀūŠőŔĦijĶłŬŠŮŕí9ÍÑ

Onboard Sound Recognition using Small Aerial Robot

> Òº

6 Œ

Kensho Miyoshi Koichi Hori

}=@=@çK@«£Ÿ¿¤ABK@Ik

Department of Aeronautics and Astronautics, The University of Tokyo

Recent and rapid advancement of robotic technology is bringing aerial robots closer to tasks and applications. Natural interaction of aerial robots is expected to be applied in wide areas from disaster countermeasures to entertainment. However there was only a method of using external microphone to realize audio-based interaction between human and aerial robots. We propose audio-based interaction using onboard microphone to realize closer and directer interaction.

1.

ð À ū Š ő Ŕ ģ â ģ ħ š [ ˜ ĥ Ľ Ŭ ŏ Ũ ń ʼn ŧ Ŭ ůNatural Interaction, NIŰĦãęĶ£ĒÖOPĔÀĸķĶijĎĦĥĵ,  FH¨đĴŀŬŏŮŒĽŬţŬŔĮĢNPčʼnŮŬĢħX”Ē

wTėķġčĶ.ó V|£ĦĨðÀūŠőŔĒ¤đĴbďĶq

ŔčĝıħĒ<ĔįĴķĶĒ, z£ĨðÀūŠőŔħĊÅ

ÆċĢĨĥĔĊ¼ÆċĦãęĶ£ĢČĶ.

ŦŮňĒhM4šĽńĦí9ŗĘ, í9ÍÑĦijĵðÀū

ŠőŔŏ³j´ęĶ§ģčğĝí9ĽŬŏŮśĿĽŋĦĠčġ

ĨV|Ħ£Ēĥėķġēĝ. ĘđĘ, ðÀūŠőŔ¾Ēí9

ōŬŇĹďĶĖģĦijĶ-/“8ģħĽŬŏŨńʼnŧŬħ)½Y

ĦĠčġĨĮĞĮĞxá`ĢČĵ, z£ĨĖħ)½YĹd‡

ęĶıħĢČĶ.

ƒ©å, ðÀūŠőŔģħNIĦĠčġãٝ£Ĺ­ŭ¸

GĘ, łŬŠŮŕí9ōŬŇĦijĶí9ÍÑ, $ĪĜķŔčĝ

ĽŬŏŨńʼnŧŬĦĠčġDÂĘĝŜūŔŏĽŜĹ ďġÐpęĶ.

2.

ðÀūŠőŔħNI ĦãęĶV|£ĦĨ, ŊĿŋŐťŮĥĤ

ħ–ŝŮŋħĻŜūŮŐģ, 9ĥĤħí9ŝŮŋħĻŜūŮ

ŐģčĎģĥĶųĠħ^‰ĒČĶ. sĦ, ĜķĴħ–$Īí

9ōŬŇÜĒłŬŠŮŕĢČĶđ,đģčĎųØĵĦïĒĥė ķĶ. HTA(Heavier-than-air)4ðÀūŠőŔĦãĘġ, ĜħV|

£Ĺ­ęĶ.

MonajjemiĴĨńĻŕņŜŏŮģĜħłŬŠŮŕŃţŨŔčġ

ŊĿŋŐťŮĦijĶĽŬŏŨńʼnŧŬĹD‘Ęĝ[Monajjemi 2013].

Ng ĴĨńĻŕņŜŏŮģ˵4ŃţŨŔčġŊĿŋŐťŮĦij

ĶĽŬŏŨńʼnŧŬĹD‘Ęĝ[Ng 2011]. ¹ħ^‰Ĩ, ˵4

ŃţŨĦ†ĭðÀūŠőŔħŞĽūŮŕ§ħŋŞőńĦ¬Ĺ(

ĕĶo, ðÀūŠőŔĨĜħµĦãĸĴĚ-/“8ģ–

ŝŮŋħĽŬŏŨńʼnŧŬĒ)½ĢČĶ. U¹ħ^‰ĢĨ, –

'W$Ī–’ĒðÀūŠőŔģìėķĝʼnŋŒŢĢÀĸ

ķĶĝİ, ðÀūŠőŔħŋŞőńĦ¬Ĺ(ĕĶĖģĒĥč. Ę

đĘĥĒĴ, ŦŮňĨ˵ėķĝŃţŨħĢħįðÀūŠőŔ

ĦHĘĻńʼnŧŬĹÀĎĖģĒÌėķġĐĵ, âĦģğġħĽŬŏ

ŨńʼnŧŬħ)½ĥî5ĒŃţŨħÅÞĦæCėķĶ.

QuigleyĴĨ1C·ħJ4ðÀūŠőŔĦHĘ, PDAůhMZ

7¦yŰŔčĝí9ĦijĶÚéjĹÀğĝ[Quigley

2004]. PDAĨ3Ģ”ėķ, PDAĦijğġWĴķĝí9Ĩ

ņšŬŕĦ:fėķ, ņšŬŕĨðÀūŠőŔĬ³×ėķĶ.

Ėħ^‰ĨŦŮňĒðÀūŠőŔĹÚéj´ęĶĢv!ĢČ

ĶĒ, oĢðÀūŠőŔ¾ĦĨí9ōŬŇĨ›ėķġč

ĥčĝİ, ðÀūŠőŔĨ¾Óħ-/“8ħí9Ħ%XęĶĖ

ģĨĢēĥč.

ħijĎĦHTA4ðÀūŠőŔħNIĦĐčġ, ðÀūŠő

Ŕ¾Ēí9ōŬŇĹgÔĘ, Ĝħ-/“8ģĽŬŏŨńʼnŧŬĹ

ÀģčğĝĻŜūŮŐĨ…ĤįĴķĥč.

3.

#!$ "

]ĉĒD‘ĘĝħĨ, ðÀūŠőŔħłŬŠŮ๥ńŔč

ĝí9ÍÑ$Ī, ĖķŔčĝ-/“8ģħĽŬŏŨńʼnŧŬĢ

ČĶ. ˵4ČĶčĨhM4šĽń§ħœŘĽŋĹęĖģĒĥ

čĝİ, Cħj´¹ĹÛīĖģĒĥč. ŀŬŏŮŒĽŬţŬŔ§

ħÞĢĨ, ÃmĒ+rĦ#ĢēĶSħĽŬŏŨńʼnŧŬĒ

)½ĦĥĶ. Fl §ħ”ʼnŮŬĦĐčġĨ, -/ħ–

Z7Ħďí9Z7ħ&ëĦ”čĴķĶĖģĒ¸ďĴķĶ.

4.

z©ĢĨ, ]ĉħDÂĘĝŜūŔŏĽŜĹ­ęĶ.ó ðÀūŠ

őŔģĘġ, „{Ĵħ^ħĩĴŇĽŌńĻŕņŜŏŮ[Konomura

2013, 2014]Ŕčĝů01Ű. z‚ĨŤŮŏđĴHÈħŤŮŏĮ

ĢĒ12cm, ÝßĨ70gĢ, ŎśŔľĿĻʼnŋŒŢĨLinuxħŜŨ

őŔśŁŮŢĦªėķġčĶ. šĽńĨœŊŏŪʼnũņŬšĽ

ńūśŁŬů02ŰŔčĝ.

Ù°Ŵ>Òºõó }=@=@çK@«£Ÿ¿¤AB K@Ikó6£EõóāýĈăąüýÿûĂąüă÷øýĀøùõĆõćôĆăÿĈăõøúõþĄó

2L3-4

The 28th Annual Conference of the Japanese Society for Artificial Intelligence, 2014

- 2 -

4.1

ìèrĦĨ, ðÀūŠőŔ¾ħŗĽŌ;Ħí9Ĺä

FęĶıħĒĥč. ìèrħí9ÍÑÜĦĨ, łŮŜŬŎŮŋ

ħˆ”=ÎRÙ±í9ÍÑŀŬŊŬJulius[Lee 2009]Ĺc”Ę

ĝ. JuliusĨũĻŪŏĽŢħí9ÍђĹDÀęĶĖģĒĢē,

—íÕtIJÊÎŤœŪ§Ĺ¾•Ħ®įuďĶĖģĒĢēĶ.

z£ĦĐčġ, ŦŮňÕtĨņšŬŕ¶ĐijĪ, ðÀūŠő

Ŕħ. ħ"ÎĢ\ėķġĐĵ, 1). ħį, 2)ņšŬŕħį,

3). +ņšŬŕģčĎ¢ïħn‰ĹÍÑęĶ. DêĦņšŬ

ŕĹDÀęĶħĨ 3)ħí9ĒWĴķĝģēħįģĘġčĶ.

ĖķĨ-/ħñíħπœħH¨ĢČĶ.

4.2

ðÀĦĨ, ńĻŕņŜŏŮ¾ħŜūŞŨĦijĶñíĦijĶ

ŗĽŌĒ?2ęĶ. ĖħñíĹ-ŠmÉ~ęĶģ, 0 3 ħijĎĦ

âħ9ħ-ŠmMĦÖč 100Hz1kHz ČĝĵĦ=ēĔL

ĘġčĶĖģĒĸđĶ. o, 3kHzÖħ-ŠmMĦĨŗĽŌĒ

ČĮĵÄĴķĥč. ĜĖĢ, 3kHz¡QħíĒěĶşĽőŋŪĹ

”čĝDòĹÀğĝ. í9đĴFIR śļŪŏů0 5ŰŔč

ġŘŬŕřŋśļŪŏĹđĕ, ¥ãmĦĨŃĽňŮ¥ãmŔč

ĝ. ¯, ŜūŞŨíĦijĶ=ēĥŗĽŌĒČĶ, şĽőŋŪíĹ

»ēĕĶĖģĦ\Ęĝ. şĽőŋŪíģ›èņšŬŕĹHXė

ěĶĖģĦijĵ, ðÀħðÀūŠőŔĦłŬŠŮ๥ńŔč

ĝ›èažĒ)½Ħĥğĝ.

5.

łŬŠŮ๥ń$ĪMCUĦijĶí9ÍÑĦijĶðÀūŠő

ŔģħĽŬŏŨńʼnŧŬĹD‘Ęĝ. ŀŬŏŮŒĽŬţŬŔIJŖŚŅ

ŮʼnŧŬĥĤħÞĢ, ðÀūŠőŔģâħijĵÖĔše˜ĥĽ

ŬŏŨńʼnŧŬĹ)½ĦĘġčĔĖģĒ¸ďĴķĶ. Įĝ, Z7&ë

ħǎđĴĨ, V|™ĺĦ£ĒÀĸķġčĶ¤iů–Z

7ŰĦď, -ŠmMħæĨČĶıħħí9Z7ħ&ëĦı

‹”ėķĶ)½YĒÄėķĝģčďĶ.

Įĝ‘2Ĩ 3kHz MħşĽőŋŪíĒ›èņšŬŕħįĦH

XėķġčĶĒ, íħàėIJĜħ®į*ĸěřŏŮŬĹ»ē

ĕĶĖģĢ<¢ħņšŬŕĦHXėě, ďġŜūŞŨíħ?2

Ģħ9Ĺ_ęĶĖģĦı'ĵ®ĺĢčĔCĢČĶ.

[Lee 2009]ó Lee, A., Kawahara, T.: Recent development of open-source speech recognition engine JuliusűAPSIPAűpp. 131-137, 2009Ų

[Konomura ó 2013] ó Konomura, R., Hori, K.: Designing Hardware and Software Systems Toward Very Compact and Fully Autonomous QuadrotorsűIEEE/ASME International Conference on Advanced Intelligent Mechatronicsű2013Ų

[Konomuraó2014]ó Konomura, R., Hori, K.: Visual 3D Self Localization with 8 Gram Circuit Board for Very Compact and Fully Autonomous Unmanned Aerial Vehicles, 2014 IEEE International Conference on Robotics and Automation, 2014 (to appear)

[Monajjemi 2013]ó Monajjemi, V., et al: HRI in the sky: Creating and commanding teams of UAVs with a Vision-mediated Gestural Interface, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on IEEE, pp. 617-623, 2013

[Ng 2011] Ng, W., et al: Collocated interaction with flying robots, RO-MAN/IEEE pp. 143-149, 2011

[Quigley 2004] Quigley, M., et al: Semi-autonomous human-UAV interfaces for fixed-wing mini-human-UAVs, IEEE/RSJ International Conference on IEEE, pp. 2457-2462, 2004

05. FIR śļŪŏů²:¥ãmĹđĕĝıħŰ

02. łŬŠŮ๥ń

04. ŜūŞŨíģşĽőŋŪíůŋŞńŔŨŢÁžŰ

03. ŜūŞŨíůŋŞńŔŨŢÁžŰ