Dynamic Kinesthetic Boundary For Haptic Teleoperation of Aerial Robotic Vehicles
This paper introduces a novel dynamic kinesthetic
boundary to aid a pilot to navigate an aerial robotic vehicle
through a cluttered environment. Classical haptic teleoperation
interfaces for aerial vehicles utilize force feedback to provide
the pilot with a haptic feel of the robots¡¯ interaction with an
environment. The proposed approach constructs a dynamic
kinesthetic boundary on the master device that provides the
pilot with hard boundaries in the haptic workspace to indicate
approaching obstacles. An advantage of the proposed approach
is that when the vehicle is flying free of obstacles then the
haptic feedback of the joystick can be used to provide a
more natural feel of the vehicle dynamics. Furthermore, rather
than a gradual onset of virtual potential forces that are felt
in the classical approach, a pilot encountering the dynamic
kinesthetic boundary is immediately aware of the presence
of the obstacle and can act accordingly. The approach is
implemented on an admittance haptic joystick to ensure that
the haptic boundaries are faithfully rendered. We prove that
in the case of perfect velocity tracking, the proposed algorithm
will ensure the vehicle never colliding with the environment.
Experiments were conducted on a robotic platform and the
results provide verification of the novel approach