STM32F407 VE NODEMCU ESP8266 KARTLARI KULLANARAK KABLOSUZ ÇOK YÖNLÜ KONTROLLÜ ROBOTİK ARAÇ SİSTEMİNİN GELİŞTİRİLMESİ

Muhammet Fatih Acun; Metehan Daldal; Kemal Avcı

doi:10.17780/ksujes.1351636

TR EN

STM32F407 VE NODEMCU ESP8266 KARTLARI KULLANARAK KABLOSUZ ÇOK YÖNLÜ KONTROLLÜ ROBOTİK ARAÇ SİSTEMİNİN GELİŞTİRİLMESİ

Öz

Bu çalışma, kablosuz uzaktan çok yönlü olarak kontrol edilebilen üç tekerlekli bir robotik aracın gerçekleştirilmesini amaçlamaktadır. Sistem, Türkçe sesli komutlar ve dokunmatik butonlar kullanarak, bilgisayarlar ve mobil akıllı telefonlar aracılığıyla hem internetsiz hem de internetli olarak kontrol edilebilen bir yapı sunmaktadır. STM32F407 tabanlı ilk çalışmada, Bluetooth üzerinden bilgisayar tabanlı olarak butonlu ve sesli komutlarla robotik aracın kontrolü yapılmış, bu doğrultuda Tkinter tabanlı bir kullanıcı arayüzü oluşturulmuştur. Sesli komutların internetsiz olarak algılanabilmesi için, öncelikle 5 Türkçe komutun bilgisayar ortamında doğru tanınması için Mel-Frekans Kepstral Katsayıları (MFCC) öznitelik çıkarma işleminde ve Dinamik Zaman Bükmesi (DTW) yöntemi de eşleştirme ve karar verme işleminde kullanılmıştır. 15 katılımcıdan 5 sesli komut için örnekler alınmış ve kullanılan yöntem test edilmiştir. Sonuçlar 5 sesli komutun %100 doğrulukla tanındığını göstermiştir. Daha sonra STM32F407 tabanlı akıllı telefon ve Bluetooth temelli kontrol çalışması ele alınmış ve sesli komutlar için Google asistan tabanlı çalışan bir mobil arayüz tasarlanmıştır. Üçüncü ve dördüncü çalışmalar ise NodeMCU kartı kullanarak sırasıyla Bluetooth ve Wi-Fi bağlantılar üzerinden aracın kontrollerini içermektedir. Nesnelerin interneti temelli kontrol için Arduino IoT Cloud tabanlı bir arayüz geliştirilmiştir. 10 katılımcıyla yapılan gerçek zamanlı çalışmalar, STM32F407 ve NodeMCU kartları tabanlı tüm kontrol yöntemlerinin başarılı bir biçimde çalıştığını göstermiştir.

Anahtar Kelimeler

DEVELOPMENT OF A WIRELESS MULTI WAY CONTROLLED ROBOTIC VEHICLE SYSTEM USING STM32F407 AND NODEMCU ESP8266 BOARDS

Abstract

This study aims to realize a wireless remotely multi way controllable three-wheeled robotic vehicle. The system provides a structure that can be controlled both without and with internet via computers and mobile smartphones using Turkish voice commands and touch buttons. In the first study based on STM32F407, the robotic vehicle was controlled by computer-based button and voice commands over Bluetooth, and a Tkinter-based user interface was created accordingly. To detect voice commands without internet, firstly, Mel-Frequency Cepstral Coefficients (MFCC) were used in feature extraction and Dynamic Time Warping (DTW) method was used in matching and decision-making process for the correct recognition of 5 Turkish commands in computer environment. Samples for 5 voice commands were taken from 15 participants and the method used was tested. The results showed that 5 voice commands were recognized with 100% accuracy. Then, STM32F407-based smartphone and Bluetooth-based control work was discussed, and a Google assistant-based mobile interface was designed for voice commands. The third and fourth studies include the controls of the vehicle over Bluetooth and Wi-Fi connections, respectively, using the NodeMCU board. An Arduino IoT Cloud-based interface was developed for IoT-based control. Real-time studies with 10 participants showed that all control methods based on STM32F407 and NodeMCU boards work successfully

Keywords

References

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Details

Primary Language

Turkish

Subjects

Human-Computer Interaction

Journal Section

Research Article

Authors

Muhammet Fatih Acun
0009-0004-2118-6868
Türkiye

Metehan Daldal
0009-0004-5277-104X
Türkiye

Kemal Avcı ^*
0000-0001-5040-3594
Türkiye

Publication Date

December 3, 2023

Submission Date

August 30, 2023

Acceptance Date

October 31, 2023

Published in Issue

Year 2023 Volume: 26 Number: 4

DOI

https://doi.org/10.17780/ksujes.1351636

IZ

https://izlik.org/JA73MC88MG

Cite

RIS / Bibtex

APA

Acun, M. F., Daldal, M., & Avcı, K. (2023). STM32F407 VE NODEMCU ESP8266 KARTLARI KULLANARAK KABLOSUZ ÇOK YÖNLÜ KONTROLLÜ ROBOTİK ARAÇ SİSTEMİNİN GELİŞTİRİLMESİ. Kahramanmaraş Sütçü İmam Üniversitesi Mühendislik Bilimleri Dergisi, 26(4), 1030-1049. https://doi.org/10.17780/ksujes.1351636

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