Collision avoidance for a remotely-operated helicopter using haptic feedback

This paper introduces four new collision avoidance systems for a remotely-operated helicopter using haptic feedback on the control stick of the operator. To calculate the feedback force artificial risk fields are used, which give an indication about the risk of hitting an obstacle. For each obstacle in the risk field a risk value is calculated, which is transformed to a risk vector, acting as an artificial force on the vehicle. All risk vectors are integrated into one avoidance vector, which is proportional to the feedback force to the operator. A basic risk field and a parameterized risk field are tested in simulations, together with two risk vector calculation methods, resulting in radial and normal risk vectors. The simulations show most promising results for the parameterized risk field with radial risk vectors and worst results for the basic risk field with normal vectors