Unmanned aerial vehicles (UAVs) can be challenging to operate due to remote control environments and unstable system dynamics. A haptic control strategy is introduced to improve the UAV’s stability and facilitate customizable haptic feedback. The inverse kinematics of the haptic device are presented to map the workspace with the joint space of its motors. The mathematical model that describes the haptic device enables feedback forces to be calculated. A variety of feedback strategies are designed based on obstacle position, UAV dynamics, and the haptic device mechanical dynamics. Four haptic feedback methods are proposed and evaluated using human test subjects that operate the quadrotor over an obstacle-filled environment. The operators’ performances improved 27.2% in tracking error and 137% in time consumption as compared with the nonhaptic device. Clearly, the introduction of haptic feedback benefits the UAV operating paradigm.
Customizable Unmanned Aerial Vehicle Haptic Feedback Interface: Theory and Test
Journal of Guidance, Control, and Dynamics ; 41 , 12 ; 2581-2587
2018-07-24
7 pages
Article (Journal)
Electronic Resource
English
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