A novel approach to TSK model based gesture driven robot movement

Abstract

This paper presents a novel fuzzy based approach to gesture driven human robot interaction. Now a day, gestures are considered to be the most effective communicative medium for remotely controlling a robot. In this work, the gestures are employed to instruct a Khepera II robot to move from a specific starting position to a goal position following a specific path. The main highlight is the determination of exact degree of rotation with proper application of acceleration and brake in order to reach the specified goal position without hitting the obstacles. A Takagi-Sugeno-Kang based fuzzy model with two antecedents (type-2 fuzzy sets) and one consequent (crisp value) has been employed to determine the angle of rotation. The performance of the proposed framework has been tested in terms of a number of parameters like accuracy, precision, error rate etc. And in each case, the formulated strategy has proved its worth.