Haptic-based bilateral teleoperation of underactuated Unmanned Aerial Vehicles

Haptic-based bilateral teleoperation of underactuated Unmanned Aerial Vehicles
复制标题

基于触觉的欠驱动无人机双边遥控操作

DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
P. Morin
P. Morin
中科院分区：
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文献类型：
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作者：
H. Rifai;Minh;T. Hamel;P. Morin

文献摘要

被引文献

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摘要研究了欠驱动飞行器的双边遥操作问题。力反馈操纵杆用于远程驾驶飞机并将环境图像反映给操作员。这种反馈是一种虚拟力，是到障碍物的距离或接近障碍物的速度的函数，可以使用机载传感器（即遥测或光流）的测量值进行计算。基于李雅普诺夫分析建立了遥操作回路在有界或耗散虚拟环境力作用下的输入-状态稳定性。
Abstract The bilateral teleoperation of underactuated aerial vehicles is addressed. A force feedback joystick is used to remotely pilot the aircraft and reflect an image of the environment to the operator. This feedback is a virtual force, function of the distance to an obstacle or the rate of approaching it. It can be computed using the measurements of on-board sensors ( i.e. telemetric or optic flow). Input to State Stability of the teleoperation loop with respect to bounded or dissipative virtual environment forces is established based on Lyapunov analysis.