An Evaluation of Hand Trajectory Gesture Controlled Vehicular Robot

Vehicular robotics (VRs) is an emerging field in Mechatronics application that offers numerous benefits to assisted living systems, exploits in unsafe terrains, agricultural harvesting, and manufacturing automation, among others. The absence of gesture angular displacement to speed relationship remains unresolved in literature. Existing systems controlled by hand gesture uses Radio Frequency (RF) module as a medium of wireless communication. In this paper, a re-engineered VR controlled by five palm gestures is implemented and evaluated. An accelerometer-powered transmitter circuitry for the palm glove is realized while integrating Bluetooth spectrum at the VR receiver for wireless signalling. C+ constructs are introduced for end-to-end control between the transmitter and receiver. Performance assessment carried out on actual speed, response time and a blind spot in both autonomous and semi-autonomous modes provided satisfactory insights. It is observed that in semi-autonomous mode (gesture mode), under tilting palm angle ranged ۰-۴۰ degrees, a minimum speed of ۰.۵۵m/s was observed. A medium speed of ۰.۶۳m/s and a maximum speed of ۰.۹۱m/s are obtained at ۴۰ to ۶۰ degrees and ۷۰ to ۹۰ degrees respectively. Furthermore, the autonomous mode offered a speed of ۰.۹۷m/s.

کلیدواژه ها:

Mechatronics ، Industry ۴.۰ ، Robotic vehicles ، Automation ، Embedded Systems