Development of Fast Parallel Algorithms Based on Visual and Audio Information in Motion Control Systems of Mobile Robots

Chapter
Part of the Intelligent Systems Reference Library book series (ISRL, volume 136)

Abstract

Decision making for movement is one of the essential activities in motion control systems of mobile robots. It is based on methods and algorithms of data processing obtained from the mobile robot sensors, usually video and audio sensors, like video cameras and microphone arrays. After image processing, information about the objects and persons including their current positions in area of mobile robot observation can be obtained. The aim of methods and algorithms is to achieve the appropriate precision and effectiveness of mobile robot’s visual perception, as well as the detection and tracking of objects and persons applying the mobile robot motion path planning. The precision in special cases of visual speaking person’s detection and tracking can be augmented adding the information of sound arrival in order to receive and execute the voice commands. There exist algorithms using only visual perception and attention or also the joined audio perception and attention. These algorithms are usually tested in the most cases as simulations and cannot provide a real time tracking objects and people. Therefore, the goal in this chapter is to develop and test the fast parallel algorithms for decision making in the motion control systems of mobile robots. The depth analysis of the existing methods and algorithms was conducted, which provided the main ways to increase the speed of an algorithm, such as the optimization, simplification of calculations, applying high level programming languages, special libraries for image and audio signal processing based on the hybrid hardware and software implementations, using processors like Digital Signal Processor (DSP) and Field-Programmable Gate Array (FPGA). The high speed proposed algorithms were implemented in the parallel computing multiprocessor hardware structure and software platform using the well known NVIDIA GPU processor and GUDA platform, respectively. The experimental results with different parallel structures confirm the real time execution of algorithms for the objects and speaking person’s detection and tracking using the given mobile robot construction.

Keywords

Visual and audio decision making Mobile robot Motion control system Visual and audio perception and attention Parallel algorithm GPU CUDA 

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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Technical UniversitySofiaBulgaria

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