A quadrotor controlled in real-time using hand gestures and ROS2 multi-node communication within GAZEBO 3D environment

被引：0

作者：

Djizi, Hamza ^{[1
]}

Lakehal, Abdelaziz ^{[2
]}

Zahzouh, Zoubir ^{[2
]}

机构：

[1] Univ Souk Ahras, Dept Mech Engn, INFRA RES Lab, POB 1553, Souk Ahras 41000, Algeria

[2] Univ Souk Ahras, Lab Res Electromech & Dependabil, POB 1553, Souk Ahras 41000, Algeria

来源：

INTERNATIONAL JOURNAL OF AUTOMATION AND CONTROL | 2024年 / 18卷 / 02期

关键词：

Robotic Operating System 2; ROS2; quadrotor; GAZEBO; control; communication; hand gestures; TRACKING CONTROL; DESIGN; QUADCOPTER; UAV;

D O I：

10.1504/IJAAC.2024.137069

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a novel way of designing and controlling a quadrotor prototype using hand gestures, utilising the Robotic Operating System 2 (ROS2) and GAZEBO11 3D environment. A C++-based plug-in was created for GAZEBO, while the cross-platform pipeline framework Media-Pipe was used to manage the quadrotor's movements through hand gestures. The PID regulator was utilised to enhance the movements' accuracy and responsiveness, leading to a more efficient and precise response to user commands for a better user experience. The obtained results demonstrated that the PID regulator improved the response of the quadrotor to hand gestures with greater accuracy.

引用

页码：214 / 231

页数：19

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