Dec 3, 2012 , by
Public Summary Month 9/2012
The main work during the last period was devoted to dissemination (writing a journal paper on a new control scheme we developed and submitted to IEEE Transactions on Mechatronics). Parallel to writing the papers, we started designing a framework for haptic teleoperation of the Skybotix Flybox UAV. The scheme enables to safely operate a wide range of VTOL UAVs by an untrained user in a cluttered environment. In this scheme, the user operates the UAV through the use of a haptic joystick. This scheme includes a novel force-feedback algorithm that enables the user to feel the texture of the environment using a force-feedback joystick. In addition, a novel mapping function is introduced to teleoperate the UAV in an unlimited workspace in position control mode with a joystick which has a limited workspace. An obstacle avoidance strategy is designed to autonomously modify the position set point of the UAV independently of the pilot's commands.
A video that is showing the experimental results of the obstacle avoidance algorithm can be seen at the following link: http://www.i3s.unice.fr/~ducard/UAVProjects.GB.html.
Aug 13, 2012 , by
Public Summary Month 7/2012
During the last period:
- We started implementing and testing the control- and tele-operation algorithms and especially the unilateral teleoperated mode on the Flybox platform. In a next step, we will first validate the implemented algorithms on the Flybox by exploiting Vicon Motion Tracking system at ETH in Zurich. The first experimental results are expected by the end of august.
- Pending the arrival of the stereo vision system (expected in december 2012), we used the Kinect sensor to develop an algorithm that allows us to determine the pose of the UAV from the onboard sensor. This algorithm will be used to validate our control scheme using only onboard sensors.
Jun 19, 2012 , by
Public Summary Month 5/2012
During the last two months, we started to prepare the MAV platform FlyboX. For the production of the platform, all the necessary parts for the generic version have been ordered and are ready to be assembled next month.
Simultaneously, a review of four existing haptic joysticks was done (Novint Falcon, Sensable Phantom Desktop, Force Dimension Omega). The evaluation was based on the corresponding datasheets and user reviews found on the internet. A simulator of drone dynamics including the haptic system is under development
Apr 19, 2012 , by
Public Summary Month 3/2012
We will develop a novel user interface for aerial robotic systems to enable the operation of a UAV by untrained pilots in industrial or constrained environments. A force feedback joystick actuator will be used to provide the operator with a haptic control interface for the system. This will allow the operator to feel disturbances such as wind gusts and resistance to motion in the direction of obstacles. Various modes of operation will provide partitioned teleoperational/autonomous control to aid the user for tasks such as visual fixation on a target (maintain a target in view), follow walls, floors, return to base, etc. The teleoperation control will also be augmented with obstacle avoidance algorithms, emergency procedures and strategies for loss of communications.
