Application of hedge algebras algorithm for mobile robot controller via hand gestures and wireless protocol

Abstract

With the superior development of technology, mobile robots have become an essential part of humans’ daily life. Consequently, interacting and dealing with them pushes us to develop and propose different suitable Human-Robot Interaction (HRI) systems that can detect the interacted user’s actions and achieve the desired output in real-time. In this paper, we propose a closed-loop smart mechanism for two main agents: the hand gloves’ controller and the mobile robot. To be more specific, the developed model employs flex sensors to measure the curve of the finger. The sensor signals are then processed by aiding the Hedge Algebras Algorithm to control the movement direction and customize the speed of the mobile robot via wireless communication. Numerical simulation and experiments demonstrate that the mobile robot could operate reliably, respond rapidly to control signals, and vary its speed continually based on the different finger gestures. Besides, the control results are also compared with those obtained from the traditional fuzzy controller to prove the superiority and efficiency of the proposed method.