Design Of Mobile Robot Motion Based On Gesture Recognition

In recent years,the gesture recognition control has become an important in the field of intelligent robots at home and abroad research subject.It is a very flexible man-computer interaction.In order to traditional way of interaction for the center with machine,this paper centered on gesture and computer vision in the complex environment control to realize the mobile robot autonomous action.This way avoid the traditional ways of interaction interfaces are too much and it has not flexible limitation.This paper research content is as follows.Firstly,the current gesture recognition technology applied in the field of control were summarized,and the analysis of the current in the field of the main research methods.This paper analyzes classification of natural gesture recognition technology,and introduces the basic theory of the gesture recognition to control the direction.Then,the gesture template library is established,and we analyze hand gesture segmentation,hand recognition and gesture tracking technology in the static hand gesture and static hand gesture.according to the requirements of the control system,C++ language is used for implementation and optimization of the algorithmsAfter that,this paper analyzes the mobile robot kinematic and study it.We introduce mobile robot control system software and hardware it need.Slide wheeled robot kinematics model is established ? The model is based on the mobile robot movement in the course and the angle between the fixed direction difference for error analysis,through the PID controller to control the wheel slip differential on both sides of the wheel robots,in order to realize the mobile robot can move to the target location.Finally,we integrate the gesture recognition with mobile robot control system by using vs2010 with Qt and OpenCV2.4.9 open-source library.The system need to research and evaluate.The user can adopt static gesture and dynamic gesture to be real motion control of mobile robot through the human-computer interaction interface system.