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Human Computer Interaction System HUMAN COMPUTER INTERACTION SYSTEM FOR SELF-DRIVEN GOLF CART A Project Presented to the Faculty of California State Polytechnic University, Pomona In Partial Fulfillment Of the Requirements for the Degree Master of Science In Computer Science By Hardeep Singh 2018 SIGNATURE PAGE PROJECT: HUMAN COMPUTER INTERACTION SYSTEM FOR SELF-DRIVEN GOLF CART AUTHOR: Hardeep Singh DATE SUBMITTED: Spring 2018 Computer Science Department Dr. Amar Raheja Project Committee Chair Professor of Computer Science Dr. Daisy Tang Project Committee Member Professor of Computer Science ii ABSTRACT In this era of machine learning and sensors, goal of industry is to make faster computers capable of performing high end tasks without human interaction. Autonomous computers are being developed to perform human-like tasks, with hope to eliminate human errors. Among the many tasks performed by humans every day, an absolutely necessary task is operating a machine for transportation. Autonomous vehicles are being built around the globe to provide better and safer transportation for passengers. In the attempt to utilize modern technologies and striving for safer environment, Cal Poly Pomona is developing a self-driving golf cart, to drive passengers/visitors around campus. However, removing human interaction completely from golf-cart pose a great risk. An autonomous machine can navigate through pre-programmed scenarios, but it will always lack the ability to make human decisions. Therefore, in this research, an on-board computer is built to provide passengers with human-computer interaction platform. On-board computer consists multiple human interaction techniques (verbally or physical) along with vehicles movement information during a transit. Human computer interface features active route selection, path planning and navigation updates on map, to provide passengers with updates during their commute. On-board computer also provides basic vehicle directing controls, allowing passengers to maintain control over autonomous machine actions, at all times. These features along with Android sensory data and Google location updates, allow on- board computer to provide a better and safer transit for its passengers. iii TABLE OF CONTENTS SIGNATURE PAGE ....................................................................................................... ii ABSTRACT .................................................................................................................. iii LIST OF FIGURES ....................................................................................................... vi CHAPTER 1 INTRODUCTION ..................................................................................... 1 CHAPTER 2 LITERATURE SURVEY ............................................................................ 3 2.1 VOICE RECOGNITION .................................................................................. 3 2.1.1 USER TO ROBOT SPEECH MODEL STRUCTURE ................................... 3 2.1.2 TYPE OF SPEECH RECOGNITION ........................................................... 5 2.1.3 GOOGLE VOICE RECOGNITION........................................................... 7 2.2 USER INTERFACE (MANUEL SELECTION) ................................................... 8 2.2.1 USER SELECTION OPTIONS .................................................................... 8 2.2.2 USER NAVIGATION OPTIONS .............................................................. 8 2.3 GOOGLE MAP ................................................................................................ 9 CHAPTER 3 PROJECT GOAL .................................................................................... 11 CHAPTER 4 METHODOLOGY .................................................................................. 13 4.1 PROVIDED DATA/PREPROCESSING ......................................................... 13 4.2 APPROACH ................................................................................................... 13 4.2.1 DATA BINDINGS .................................................................................. 13 4.2.2 PARSE BUILDING DATA XML ............................................................ 15 4.2.3 SPEECH TO TEXT CONVERTOR ......................................................... 17 4.2.4 TEXT TO SPEECH CONVERTOR ......................................................... 21 4.2.5 GOOGLE LOCATION UPDATES .......................................................... 24 4.2.6 GOOGLE MAPS PATH PLANNING ..................................................... 26 4.2.7 SERVER PATH PLANNING .................................................................. 30 4.2.8 SIMULATOR .......................................................................................... 32 CHAPTER 5 DATA FLOWS ....................................................................................... 34 5.1 GOOGLE MAP PATH WITH ACTIVE LOCATION UPDATES .................. 34 5.2 GOOGLE MAP PATH WITH SIMULATED LOCATION UPDATES .......... 35 5.3 FILE PROVIDED PATH WITH ACTIVE LOCATION UPDATES ............... 36 5.4 FILE PROVIDED PATH WITH SIMULATED LOCATION UPDATES ....... 37 CHAPTER 6 RESULTS ................................................................................................ 38 6.1 SELECTION/MAIN SCREEN ....................................................................... 38 6.1.1 OPTIONS ................................................................................................ 39 6.2 NAVIGATION SCREEN ............................................................................... 48 6.2.1 TRANSIT ................................................................................................ 48 CHAPTER 7 EVALUATION OF RESULTS ................................................................ 56 7.1 APPROACH ................................................................................................... 56 7.2 RESULTS ....................................................................................................... 58 CHAPTER 8 FUTURE WORKS .................................................................................. 59 8.1 Enhanced Speech Recognition ........................................................................ 59 iv REFERENCES ............................................................................................................. 60 APPENDIX .................................................................................................................. 62 v LIST OF FIGURES Figure 1. Speech to Robot Command .............................................................................. 4 Figure 2. Data flow with Google Maps path and active location updates ....................... 34 Figure 3. Data flow with Google Maps path and simulated location updates .................. 35 Figure 4. Data flow with way-point file path and active location updates ....................... 36 Figure 5. Data flow with way-point file path and simulated location updates ................. 37 Figure 6. Main screen of application.............................................................................. 39 Figure 7. Search Bar usuage .......................................................................................... 40 Figure 8. Default Google speech recognition dialog ...................................................... 41 Figure 9. A confirmation dialog to confirm user selection by speech or touch ............... 42 Figure 10. Map view when building is selected ............................................................. 42 Figure 11. Bottom panel when building is selected ........................................................ 43 Figure 12. Map view when building is not selected ....................................................... 43 Figure 13. Bottom panel when building is not selected .................................................. 43 Figure 14. Building information list view ...................................................................... 44 Figure 15. A confirmation dialog to confirm user selection by speech or touch.............. 44 Figure 16. Map view when building is selected ............................................................. 45 Figure 17. Bottom panel when building is selected ........................................................ 45 Figure 18. Map view when building is not selected ....................................................... 46 Figure 19. Bottom panel when building is not selected .................................................. 46 Figure 20. Bottom panel building selected (before start over action) .............................. 46 Figure 21. Bottom panel with start over action .............................................................. 47 Figure 22. Different transit options ................................................................................ 47 vi Figure 23. Launch panel ................................................................................................ 48 Figure 24. Launch screen action buttons ........................................................................ 49 Figure 25. In-route panel ............................................................................................... 49 Figure 26. In-route action button ................................................................................... 49 Figure 27. Destination arrived panel with action button ................................................. 50 Figure 28. Google map path and active location updates, launch screen........................
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