在GAZEBO三维环境中使用手势和ROS2多节点通信实时控制的四旋翼飞行器

IF 1.3 Q4 AUTOMATION & CONTROL SYSTEMS

International Journal of Automation and Control Pub Date : 2023-01-01 DOI:10.1504/ijaac.2024.10056000

Z. Zahzouh, A. Lakehal, Hamza Djizi

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引用次数: 0

摘要

本文介绍了一种利用机器人操作系统2 (ROS2)和GAZEBO11三维环境，利用手势设计和控制四旋翼原型机的新方法。为GAZEBO创建了一个基于c++的插件，而跨平台管道框架Media-Pipe用于通过手势管理四旋翼的运动。PID调节器用于提高运动的准确性和响应能力，从而对用户命令做出更有效和精确的响应，从而获得更好的用户体验。结果表明，PID调节器提高了四旋翼飞行器对手势的响应精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Quadrotor Controlled in Real Time Using Hand Gestures and ROS2 Multi-Node Communication within GAZEBO 3D Environment

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.

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来源期刊

International Journal of Automation and Control AUTOMATION & CONTROL SYSTEMS-

自引率

41.70%

发文量

期刊介绍： IJAAC addresses the evolution and realisation of the theory, algorithms, techniques, schemes and tools for any kind of automation and control platforms including macro, micro and nano scale machineries and systems, with emphasis on implications that state-of-the-art technology choices have on both the feasibility and practicability of the intended applications. This perspective acknowledges the complexity of the automation, instrumentation and process control methods and delineates itself as an interface between the theory and practice existing in parallel over diverse spheres. Topics covered include: -Control theory and practice- Identification and modelling- Mechatronics- Application of soft computing- Real-time issues- Distributed control and remote monitoring- System integration- Fault detection and isolation (FDI)- Virtual instrumentation and control- Fieldbus technology and interfaces- Agriculture, environment, health applications- Industry, military, space applications