A UAV Interaction Control System Based On Human Gestures Information

With the development of automatic control and micro sensor technology,UAV has been developed rapidly.Today,with the gradual improvement of the intelligent level of modern life,users have higher requirements for the convenient operation of all kinds of machines.However,the volume and load of UAV platform are limited,and the positioning accuracy is not high.This paper solves the limitations of the current UAV human-computer interaction system.This paper designs a method of human-computer interaction through gesture recognition,positioning method through Visual-Inertial-Odometry,and two position control methods.A UAV platform based on ZED camera and TX2 airborne computer is built,and this method is proved by simulation and real experiment.This paper mainly includes the following parts:1.Based on the human gesture recognition algorithm Openpose,the human skeleton points are extracted,and the advanced limb key point features are obtained.A human posture classification algorithm based on OVO-SVM is designed to accurately obtain effective human gesture and realize the perception of human interaction intention.2.The coordinate transformation of the system is analyzed to realize the measurement of the pilot’s state relative to the UAV.The conversion relationship and time offset between the camera coordinate system and IMU coordinate system are obtained by using VINS,and the pose estimation with UAV is realized.3.In different indoor and outdoor scenes,absolute position control algorithm and relative position control algorithm are designed for UAV to obtain more robust flight control rate and avoid the situation that the pilot exceeds the camera field of vision.The attitude control and power distribution model of quadrotor UAV are studied from the bottom of flight control system.4.In the experiment,the performance of attitude recognition,classification algorithm and visual-inertial odometry is evaluated.The simulation experiment of the whole interaction control system is carried out by building the gazebo simulation environment.And in the actual situation,the indoor and outdoor physical demonstration experiments were successfully carried out.