Outdoor haptic teleoperation of a hexarotor UAV

Author

Reyes, Sergio ; Romero, Hugo ; Salazar, Sergio ; Lozano, Rogelio ; Santos, Omar

Author_Institution

LAFMIA, CINVESTAV-IPN, Mexico City, Mexico

fYear

2015

fDate

9-12 June 2015

Firstpage

972

Lastpage

979

Abstract

This paper considers the design and control of a Remotely Operated Aerial System Remotely Operated (ROAS) with force feedback to pilot in order to increase the perception level. The force experienced by the pilot through a Human Machine Interface (HMI) considers and it is proportional to the translational speed and proximity to objects located in the environment where the UAV evolves. In order to test the performance and feasibility of the developed platform and control strategy, experimental tests have been carried out indoor and outdoor which represent a contribution in the current literature on the subject. Experimental results obtained show an acceptable performance for both flight conditions.

Keywords

autonomous aerial vehicles; control system synthesis; force feedback; haptic interfaces; helicopters; human-robot interaction; mobile robots; telerobotics; HMI; ROAS; force feedback; hexarotor UAV; human machine interface; outdoor haptic teleoperation; remotely operated aerial system; Collision avoidance; Force; Gold; Haptic interfaces; Helicopters; Mathematical model; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Unmanned Aircraft Systems (ICUAS), 2015 International Conference on

Conference_Location

Denver, CO

Print_ISBN

978-1-4799-6009-5

Type

conf

DOI

10.1109/ICUAS.2015.7152386

Filename

7152386