Haptics-Enabled UAV Teleoperation Using Motion Capture Systems

This paper describes a system for direct position and orientation control of remotely piloted aerial vehicles using haptic force feedback. Motion capture hardware is used to provide real-time position and orientation information to the closed-loop flight control algorithm. A 3D simulation environment running in parallel with the vehicle control system provides real-time proximity/collision detection and flight volume constraints. Virtual coupling elements are used to connect a haptic user interface, the simulation environment, and the vehicle controller. An implementation of the system using an electrical radio controlled (RC) helicopter in an indoor environment is presented.

[1]  John M. Hollerbach,et al.  Planning of Minimum- Time Trajectories for Robot Arms , 1986 .

[2]  Gaurav S. Sukhatme,et al.  Haptic Teleoperation of a Mobile Robot: A User Study , 2005, Presence: Teleoperators & Virtual Environments.

[3]  Ning Xi,et al.  Real-time control of Internet based teleoperation with force reflection , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[4]  James J. Troy,et al.  Six degree-of-freedom haptic rendering using voxel sampling , 1999, SIGGRAPH.

[5]  René van Paassen,et al.  Collision avoidance for a remotely-operated helicopter using haptic feedback , 2004, 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583).

[6]  Charles A. Erignac,et al.  Closed-Loop Motion Capture Feedback Control of Small- Scale Aerial Vehicles , 2007 .

[7]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1986 .

[8]  Thomas B. Sheridan,et al.  Telerobotics, Automation, and Human Supervisory Control , 2003 .

[9]  Boeing Phantom,et al.  Voxel-Based 6-DOF Haptic Rendering Improvements , 2006 .

[10]  Claudio Melchiorri,et al.  Teleoperation of a mobile robot through haptic feedback , 2002, IEEE International Workshop HAVE Haptic Virtual Environments and Their.

[11]  Blake Hannaford,et al.  A two-port framework for the design of unconditionally stable haptic interfaces , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[12]  Thomas H. Massie,et al.  The PHANToM Haptic Interface: A Device for Probing Virtual Objects , 1994 .

[13]  Blake Hannaford,et al.  Performance evaluation of a six-axis generalized force-reflecting teleoperator , 1991, IEEE Trans. Syst. Man Cybern..