Enhanced teleoperation of UAVs with haptic feedback

This paper proposes a new intuitive technique for the haptic teleoperation of unmanned aerial vehicles (UAVs). The UAV is controlled using joystick´s velocity commands, and the haptic feedback is a repelling force proportional to the UAV´s velocity. Our proposed method that entails sensing the UAV velocity and commanding it using velocity based gestures proved to be an easier and more intuitive method for flying UAVs and accordingly, resulted in enhanced performance. Moreover, in this paper we provide a thorough investigation of the different modes to teleoperate UAVs and we demonstrate how using the velocity commands can be more intuitive and natural.