Bilateral Haptic Teleoperation of an Industrial Multirotor UAV
نویسندگان
چکیده
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 feel surrounding environment of the UAV as well as the disturbances acting on it. The stability analysis of the whole teleoperation loop, including the nonlinear dynamics of both UAV and joystick, is provided. The implementation of the teleoperation scheme on the Flybox hexacopter platform by the company Skybotix is described. Finally, experimental results and videos are reported to demonstrate the successful implementation and the performance of the overall system.
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