Haptic Teleoperation of UAVs Through Control Barrier Functions
Haptic Teleoperation of UAVs Through Control Barrier Functions
复制标题
通过控制屏障功能对无人机进行触觉远程操作
DOI：
10.1109/toh.2020.2966485
复制
发表时间：
2019
影响因子：
2.9
通讯作者：
Rebecca P. Khurshid
中科院分区：
文献类型：
--
作者：
Dawei Zhang;Guang Yang;Rebecca P. Khurshid
本文提出了一种新的方法，触觉遥操作。具体来说，我们使用控制障碍函数（CBF）来产生力反馈，以帮助人类操作员安全地驾驶四旋翼无人机。CBF将控制信号作为输入，并输出尽可能接近初始控制信号的控制信号，同时还满足指定的安全约束。在所提出的方法中，我们产生触觉力反馈的基础上发出的命令由人类操作员和安全命令返回的CBF之间的差异。以这种方式，如果用户发出不安全的控制命令，则触觉反馈将帮助引导用户朝向最接近其当前命令的安全输入命令。我们进行了一项受试者内用户研究，其中12名参与者在虚拟走廊环境中驾驶模拟无人机。参与者完成了我们提出的基于CBF的触觉反馈，没有触觉反馈，通过参数风险场，这是一个国家的最先进的方法在文献中描述的触觉反馈的任务。这项研究的结果表明，基于CBF的触觉反馈可以提高人类操作员的能力，安全地驾驶无人机，并减少操作员的感知工作量，而不牺牲任务效率。
This article presents a novel approach to haptic teleoperation. Specifically, we use control barrier functions (CBFs) to generate force feedback to help human operators safely fly quadrotor UAVs. CBFs take a control signal as input and output a control signal that is as close as possible to the initial control signal, while also meeting specified safety constraints. In the proposed method, we generate haptic force feedback based on the difference between a command issued by the human operator and the safe command returned by a CBF. In this way, if the user issues an unsafe control command, the haptic feedback will help guide the user towards the safe input command that is closest to their current command. We conducted a within-subject user study, in which 12 participants flew a simulated UAV in a virtual hallway environment. Participants completed the task with our proposed CBF-based haptic feedback, no haptic feedback, and haptic feedback generated via parametric risk fields, which is a state-of-the-art method described in the literature. The results of this study show that CBF-based haptic feedback can improve a human operator‘s ability to safely fly a UAV and reduce the operator's perceived workload, without sacrificing task efficiency.