Energy Based Set Point Modulation for Obstacle Avoidance in Haptic Teleoperation of Aerial Robots
نویسندگان
چکیده
This paper presents a novel obstacle avoidance approach that is capable of dealing with both static and dynamic obstacles in the environment with guaranteed collision-free navigation for haptic teleoperation of VTOL aerial robots. The proposed approach modulates the set point for the vehicle’s controller based on the user input energy, estimated potential energy and vehicle’s kinetic energy. By shuffling the potential and kinetic energy, vehicle’s velocity is regulated according to the permissible kinetic energy and thus obstacle avoidance is achieved. With careful design of the potential field, this approach offers a guaranteed collisionfree navigation with the presence of both stationary and moving obstacles. Incorporating the novel approach with the Dynamic Kinesthetic Boundary, the human operator can better perceive the environment where the robot is deployed through the rich spatial haptic cues rather than an onset gradual single force vector. Analysis is provided and proves that in the case of perfect velocity tracking of the slave system, the proposed algorithm can guarantee a collision-free navigation through the environment. Simulations and experiments were conducted, and the results provide verification of the effectiveness of the proposed approach in obstacle and collision avoidance for haptic teleoperation of aerial robots.
منابع مشابه
Optimal Trajectory Generation for Energy Consumption Minimization and Moving Obstacle Avoidance of SURENA III Robot’s Arm
In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...
متن کاملTowards Bilateral Teleoperation of Multi-Robot Systems
In this paper, we discuss a novel control strategy for the bilateral teleoperation of multi-robot systems, by especially focusing on the case of Unmanned aerial Vehicles (UAVs). Two control schemes are proposed: a top-down approach to maintain a desired topology of the local robots, and a bottomup approach which allows changes of topology based on local robots interactions. In both cases, passi...
متن کاملPassive internet-based crane teleoperation with haptic aids
Crane operation is a challenging task, due to the combined problem of obstacle avoidance and load swing suppression in underactuated conditions. This paper presents a human-machine interface that increases the operator’s perception of a gantry crane’s workspace. With this aim, a virtual environment resembling the workspace is connected with a haptic device. This allows the user to receive not o...
متن کاملBilateral Haptic Teleoperation of an Industrial Multirotor UAV
This chapter presents an intuitive laser-based teleoperation scheme to enable the safe operation of a multirotor UAV by an untrained user in a cluttered environment using a haptic joystick. An obstacle avoidance strategy is designed and implemented to autonomously modify the position setpoint of the UAV if necessary. This scheme includes a novel force-feedback algorithm to enable the user to fe...
متن کاملAssisted Teleoperation of Quadcopters Using Obstacle Avoidance
Teleoperation of unmanned aerial vehicles often demands extensive training. Yet, even well trained pilots are prone to mistakes, resulting frequently in collisions of the vehicle with obstacles. This paper presents a method to assist the tele-operation of a quadrotor using an obstacle avoidance approach. In particular, rough map of the nearby environment is constructed using sonar sensors. This...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2014