Control of the mobile robot by hand movement measured by inertial sensors

This paper discusses methods which allow control of a mobile wheeled robot by gestures issued by human operator using movement of his arm. The gestures are measured by low-cost inertial sensors mounted on the operator’s wrist and processed by algorithm proposed in this paper. Such approach allows user to control the mobile platform in outdoor environment without need for any static equipment (e.g., panel with joystick). Methods have been evaluated on E-puck mobile robot.