Admittance-based bilateral teleoperation with time delay for an unmanned aerial vehicle involved in an obstacle avoidance task

Samantha M C Alaimo, Lorenzo Pollinit, Heinrich Bulthoff

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

The paper focuses on the implementation of an admittance based control scheme in a bilateral teleoperation set-up for an Unmanned Aerial Vehicle (UAV) under time delay. The goal of this study is to assess and improve the stability characteristics of the bilateral teleoperator. Computer simulations were conducted to evaluate the effectiveness of the admittance-based control scheme. A commercial impedance-like haptic device was chosen to simulate the control stick: the master device. The slave system is constituted by the dynamics of the aircraft under control; in order to maximize the pilot attention on its task, only the lateral aircraft dynamics was considered. A virtual environment was displayed during the experiments to produce the visual cues. In order to evaluate the system, we prepared a control task where the aircraft had to be flown in a virtual urban canyon with buildings placed irregularly (non Manhattanlike) along the desired path by avoiding the collisions with them. A repulsive force field was associated to the obstacles and a force was sent back to the operator through the communication link. A compensator capable of flying autonomously the aircraft through the buildings with satisfactory performance was designed first using linear techniques then the haptic augmentation system was derived from the compensator by splitting it in two parts: the actual haptic cueing for the pilot and the simulated the pilot effort. The latter component was used only for the preliminary assessment of the system and was removed in simulations where a real pilot operated the stick (the master device). Experimental results and analytical motivations as well have shown that a haptic force which is simply proportional to the distance from the obstacles cannot stabilize the system: a relevant anticipatory effect or phase lead (as the derivative effect of standard industrial controllers) is needed. In order to manage the degradation of performance and overall stability when a delay is present in the communication paths, an admittance-based controller was designed together with an observer for the force generated by the human operator on the stick. The admittance-based Force Position teleoperation scheme was shown by simulations and tests with real pilots to improve the performance of the system under consideration.

Original languageEnglish
Title of host publicationAIAA Modeling and Simulation Technologies Conference 2011
Pages19-37
Number of pages19
Publication statusPublished - 2011 Dec 1
EventAIAA Modeling and Simulation Technologies Conference 2011 - Portland, OR, United States
Duration: 2011 Aug 82011 Aug 11

Other

OtherAIAA Modeling and Simulation Technologies Conference 2011
CountryUnited States
CityPortland, OR
Period11/8/811/8/11

Fingerprint

Teleoperation
Obstacle Avoidance
Collision avoidance
Remote control
Unmanned aerial vehicles (UAV)
Time Delay
Time delay
Aircraft
Haptics
Compensator
Controllers
Controller
Haptic Device
Path
Evaluate
Virtual reality
Force Field
Telecommunication links
Augmentation
Operator

ASJC Scopus subject areas

  • Aerospace Engineering
  • Modelling and Simulation

Cite this

Alaimo, S. M. C., Pollinit, L., & Bulthoff, H. (2011). Admittance-based bilateral teleoperation with time delay for an unmanned aerial vehicle involved in an obstacle avoidance task. In AIAA Modeling and Simulation Technologies Conference 2011 (pp. 19-37)

Admittance-based bilateral teleoperation with time delay for an unmanned aerial vehicle involved in an obstacle avoidance task. / Alaimo, Samantha M C; Pollinit, Lorenzo; Bulthoff, Heinrich.

AIAA Modeling and Simulation Technologies Conference 2011. 2011. p. 19-37.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Alaimo, SMC, Pollinit, L & Bulthoff, H 2011, Admittance-based bilateral teleoperation with time delay for an unmanned aerial vehicle involved in an obstacle avoidance task. in AIAA Modeling and Simulation Technologies Conference 2011. pp. 19-37, AIAA Modeling and Simulation Technologies Conference 2011, Portland, OR, United States, 11/8/8.
Alaimo SMC, Pollinit L, Bulthoff H. Admittance-based bilateral teleoperation with time delay for an unmanned aerial vehicle involved in an obstacle avoidance task. In AIAA Modeling and Simulation Technologies Conference 2011. 2011. p. 19-37
Alaimo, Samantha M C ; Pollinit, Lorenzo ; Bulthoff, Heinrich. / Admittance-based bilateral teleoperation with time delay for an unmanned aerial vehicle involved in an obstacle avoidance task. AIAA Modeling and Simulation Technologies Conference 2011. 2011. pp. 19-37
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