Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Abstract : We propose a novel semi-autonomous haptic tele- operation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master-passivity/slave-stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.
Type de document :
Article dans une revue
IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2013, 18 (4), pp.1334-1345. 〈10.1109/TMECH.2013.2263963〉
Liste complète des métadonnées

Littérature citée [43 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00910801
Contributeur : Eric Marchand <>
Soumis le : jeudi 28 novembre 2013 - 11:35:49
Dernière modification le : samedi 25 août 2018 - 14:48:02
Document(s) archivé(s) le : lundi 3 mars 2014 - 17:31:04

Fichier

2013_ieeetmech_lee.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Dongjun Lee, Antonio Franchi, Hyoung Il Son, Changsu Ha, Heinrich H Bülthoff, et al.. Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2013, 18 (4), pp.1334-1345. 〈10.1109/TMECH.2013.2263963〉. 〈hal-00910801〉

Partager

Métriques

Consultations de la notice

443

Téléchargements de fichiers

503