Artificial Force Field for Haptic Feedback in UAV Teleoperation
Artificial Force Field for Haptic Feedback in UAV Teleoperation
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DOI：
10.1109/tsmca.2009.2028239
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发表时间：
2009-11-01
影响因子：
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通讯作者：
van Paassen, Marinus M.
中科院分区：
文献类型：
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作者：
Lam, Thanh Mung;Boschloo, Harmen Wigert;van Paassen, Marinus M.
在遥控操作任务中，操作员基于其控制动作的反馈与车辆驾驶员的反馈基本上不同。一方面，通常缺乏感官信息;另一方面，通过视觉通道提供额外的状态信息。触觉反馈可用于卸载视觉通道，并补偿其他模态中反馈的缺乏。为了避免碰撞，触觉反馈可以通过控制操纵器提供排斥力。触觉反馈允许操作员在存在潜在碰撞时将排斥力解释为对其控制偏转的阻抗。触觉信息可以从将环境约束映射到排斥力的人工力场（AFF）生成。本文描述了一种新型AFF的设计和理论评估，即，参数风险场，无人机（UAV）的遥控操作。磁场允许通过参数设置调整大小、形状和力梯度，这些参数设置决定了磁场的灵敏度。进行了计算机模拟，以评估各种参数设置的防撞场的有效性。结果表明，新的AFF更有效地执行避碰功能比从文献中已知的势场。由于其较小的尺寸，场产生较低的排斥力，导致较小的力抵消效应，并允许较大的UAV速度。这表明操作员控制需求更少，无人机操作更有效，这两者都有望降低操作员的工作量，同时提高安全性。
The feedback upon which operators in teleoperation tasks base their control actions differs substantially from the feedback to the driver of a vehicle. On the one hand, there is often a lack of sensory information; on the other hand, there is additional status information presented via the visual channel. Haptic feedback could be used to unload the visual channel and to compensate for the lack of feedback in other modalities. For collision avoidance, haptic feedback could provide repulsive forces via the control inceptor. Haptic feedback allows operators to interpret the repulsive forces as impedance to their control deflections when a potential for collision exists. Haptic information can be generated from an artificial force field (AFF) that maps environment constraints to repulsive forces. This paper describes the design and theoretical evaluation of a novel AFF, i.e., the parametric risk field, for teleoperation of an uninhabited aerial vehicle (UAV). The field allows adjustments of the size, shape, and force gradient by means of parameter settings, which determine the sensitivity of the field. Computer simulations were conducted to evaluate the effectiveness of the field for collision avoidance for various parameter settings. Results indicate that the novel AFF more effectively performs the collision avoidance function than potential fields known from literature. Because of its smaller size, the field yields lower repulsive forces, results in less force cancellation effects, and allows for larger UAV velocities. This indicates less operator control demand and more effective UAV operations, both expected to lead to lower operator workload, while, at the same time, increasing safety.