{"title":"A Quadrotor Controlled in Real Time Using Hand Gestures and ROS2 Multi-Node Communication within GAZEBO 3D Environment","authors":"Z. Zahzouh, A. Lakehal, Hamza Djizi","doi":"10.1504/ijaac.2024.10056000","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"1 1","pages":""},"PeriodicalIF":1.3000,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Automation and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1504/ijaac.2024.10056000","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
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.
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
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