Comparison of Tactile Signals for Collision Avoidance on Unmanned Aerial Vehicles

Spiss, Stefan; Kim, Yeongmi; Haller, Simon; Harders, Matthias

doi:10.1007/978-981-10-4157-0_66

Cited by 4 publications

(4 citation statements)

References 10 publications

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“…In terms of graph theory, literature [7,8] analyzes the complexity of multi aircraft ight collision and uses the method of establishing a Voronoi polygon to solve the anticollision problem, but it is only applicable to twodimensional plane. Literature [9][10][11][12] uses the arti cial potential eld method to treat UAV and obstacles as positively and negatively charged particles respectively, so as to construct a cooperative anticollision method, but this method cannot e ectively solve the anticollision problem with constraints. In solving the multi constraint anticollision problem, the model predictive control method has a good e ect [13].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Anticollision Decision and Control Method of UAV Based on the Optimization Theory

Huan

Zhao

Khalil

2022

Mathematical Problems in Engineering

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Autonomous anticollision of unmanned aerial vehicle (UAV) is one of the key technologies to realize intelligent decision-making and autonomous control, and it is of great significance to improve the flight safety and survivability of UAV in complex environment. Firstly, the UAV autonomous anticollision system configuration is constructed in this paper, and the UAV autonomous anticollision problem and related models are described. Then, the potential collision conflict prediction rules are defined, and a practical three-dimensional collision conflict prediction method is proposed. Finally, the UAV autonomous avoidance decision-making method is designed by using the optimization theory, and the corresponding simple and feasible flight control law is put forward. Numerical simulation results show that the proposed method can ensure the flight safety of UAV by relying on autonomous decision-making and control strategy, so as to realize the autonomous anticollision between a single UAV and non-cooperative dynamic obstacles in three-dimensional airspace.

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Section: Introductionmentioning

confidence: 99%

Autonomous Anticollision Decision and Control Method of UAV Based on the Optimization Theory

Huan

Zhao

Khalil

2022

Mathematical Problems in Engineering

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“…This approach, though, includes autonomous obstacle avoidance on a 2D surface, through a motion capture system, making the user passive towards this task. The use of vibrating tactors has also been proposed for drone obstacle avoidance in 2D, in a simulated environment [28].…”

Section: Introductionmentioning

confidence: 99%

Hand-worn Haptic Interface for Drone Teleoperation

Macchini

Havy

Weber

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can represent a bottleneck for operation in several conditions. In this work, we present a wearable interface for drone teleoperation and its evaluation through a user study. The two main features of the proposed system are a data glove to allow the user to control the drone trajectory by hand motion and a haptic system used to augment their awareness of the environment surrounding the robot. This interface can be employed for the operation of robotic systems in line of sight (LoS) by inexperienced operators and allows them to safely perform tasks common in inspection and searchand-rescue missions such as approaching walls and crossing narrow passages with limited visibility conditions. In addition to the design and implementation of the wearable interface, we performed a systematic study to assess the effectiveness of the system through three user studies (n = 36) to evaluate the users' learning path and their ability to perform tasks with limited visibility. We validated our ideas in both a simulated and a realworld environment. Our results demonstrate that the proposed system can improve teleoperation performance in different cases compared to standard remote controllers, making it a viable alternative to standard Human-Robot Interfaces.

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“…A single drone is used by Knierim et al [6] for the real representation of digital content in virtual reality, providing the tactile sensation. An arm-worn tactile display for presentation of the collision of a single flying robot with walls was proposed in [7]. Vibrotactile signals improved users' awareness of the presence of obstacles.…”

Section: Introductionmentioning

confidence: 99%

SwarmCloak: Landing of Two Micro-Quadrotors on Human Hands Using Wearable Tactile Interface Driven by Light Intensity

Tsykunov

Agishev

Ibrahimov

et al. 2020

2020 IEEE Haptics Symposium (HAPTICS)

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For the human operator, it is often easier and faster to catch a small size quadrotor right in the midair instead of landing it on a surface. However, interaction strategies for such cases have not yet been considered properly, especially when more than one drone has to be landed at the same time. In this paper, we propose a novel interaction strategy to land multiple robots on the human hands using vibrotactile feedback. We developed a wearable tactile display that is activated by the intensity of light emitted from an LED ring on the bottom of the quadcopter. We conducted experiments, where participants were asked to adjust the position of the palm to land one or two vertically-descending drones with different landing speeds, by having only visual feedback, only tactile feedback or visual-tactile feedback. We conducted statistical analysis of the drone landing positions, landing pad and human head trajectories. Two-way ANOVA showed a statistically significant difference between the feedback conditions. Experimental analysis proved that with an increasing number of drones, tactile feedback plays a more important role in accurate hand positioning and operator's convenience. The most precise landing of one and two drones was achieved with the combination of tactile and visual feedback.

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Comparison of Tactile Signals for Collision Avoidance on Unmanned Aerial Vehicles

Cited by 4 publications

References 10 publications

Autonomous Anticollision Decision and Control Method of UAV Based on the Optimization Theory

Autonomous Anticollision Decision and Control Method of UAV Based on the Optimization Theory

Hand-worn Haptic Interface for Drone Teleoperation

SwarmCloak: Landing of Two Micro-Quadrotors on Human Hands Using Wearable Tactile Interface Driven by Light Intensity

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