Gestures-teleoperation of a heterogeneous multi-robot system

被引：7

作者：

de Carvalho, Kevin Braathen ^{[1
]}

Villa, Daniel Khede Dourado ^{[2
]}

Sarcinelli-Filho, Mario ^{[2
]}

Brandao, Alexandre Santos ^{[1
]}

机构：

[1] Univ Fed Vicosa, Grad Program Comp Sci, BR-36570900 Vicosa, MG, Brazil

[2] Univ Fed Espirito Santo, Grad Program Elect Engn, BR-29075910 Vitoria, ES, Brazil

来源：

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2022年 / 118卷 / 5-6期

关键词：

Gesture recognition; Teleoperation; Multi-robot systems; Heterogeneous squads; Mobile robotics; ADAPTIVE DYNAMIC CONTROLLER; TRAJECTORY TRACKING; ACTION RECOGNITION; ROBOT; TRANSPARENCY; QUADROTOR; MODEL;

D O I：

10.1007/s00170-021-07659-2

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 work presents a solution for the teleoperation of a heterogeneous team of mobile robots. Regarding the team of robots, two possibilities are considered which are UAV-UGV (Unmanned Aerial Vehicle-Unmanned Ground Vehicle) and UAV-UAV. To execute this task, high-level gesture patterns are made in a remote station, and we proposed an easy-to-train Artificial Neural Network (ANN) classifier to identify the skeletal data extracted by an RGB-D (Red, Green, Blue-Depth) camera. Our classifier uses custom data to build the gesture patterns, allowing the use of smooth and intuitive gestures for the teleoperation of mobile robots. To validate our proposal, experiments were run using two off-the-shelf Parrot AR.Drone 2 quadrotors and the differential drive platform Pioneer 3-DX. The results of such experiments allow concluding that the proposed teleoperation system is able to accomplish inspection/surveillance tasks, and it can be easily modified to similar applications, as emergency response or load transportation.

引用

页码：1999 / 2015

页数：17

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