Unmanned Multi-rotors Craft Hand Gesture Control Method Based On Natural Interaction

The unmanned aerial vehicle(UAV) is in the ascendant,the traditional way of UAV interaction is abstract,it’s a long practicing time for beginners,and it could make misoperation in real interaction easily.Natural interaction rises gradually in recent years,somatosensory interaction technology appears in real work and life gradually,and the naturalness and intuition of somatosensory interaction reduce the learning and practicing time significantly,and it provides the beginners with a very good interactive experience. The thesis uses Leap Motion controller as the hardware device of getting hand gesture data,and it comes up with a new hand gesture interaction controlling model for UAV,and it studies the hand gesture control method for micro UAV based on natural interaction.The main points of thesis are:(1)Analyzing the traditional interaction control model of UAV,taking advantages of existing UAV somatosensory interaction control model,coming up with a new single hand palm gesture somatosensory interaction control model for UAV.(2)Taking full advantage of the degree of freedom(DOFs) of wrist joint,elbow joint and shoulder one side,using the 4 different hand gestures to control the UAV flight motion in 6 DOFs based on the principle that using the joints’ DOF independently or combinatively one time.(3)For different manipulators who have individual and psychological differences,constructing 18 male undergraduates hand gesture data sets whose age is between 20 and 25 based on thesis hand gesture control model in order to optimize control curve and reduce misoperating rate of the control system.(4)Constructing a hand gesture control system with supervised learning theory in order to make the control system has learning capacity and generalization ability.The system could update control model parameters intelligently and dynamically in order to improve hand gesture control accuracy.(5)Testing UAV hand gesture control model accuracy by multitask flight experiments,and testifying the thesis UAV hand gesture control model is superior to traditional UAV control model on learnability and usability by single task contrast experiment.