Research Papers

Haptics-Enabled UAV Teleoperation Using Motion Capture Systems

[+] Author and Article Information
James J. Troy

 Boeing Phantom Works, P.O. Box 3707, Seattle, WA 98124jim.troy@boeing.com

Charles A. Erignac

 Boeing Phantom Works, P.O. Box 3707, Seattle, WA 98124charles.a.erignac@boeing.com

Paul Murray

 Boeing Phantom Works, P.O. Box 3707, Seattle, WA 98124paul.murray@boeing.com

J. Comput. Inf. Sci. Eng 9(1), 011003 (Feb 11, 2009) (7 pages) doi:10.1115/1.3072901 History: Received August 31, 2007; Revised July 15, 2008; Published February 11, 2009

This paper describes a system for direct position and orientation control of remotely piloted aerial vehicles using haptic force feedback. Motion capture hardware is used to provide real-time position and orientation information to the closed-loop flight control algorithm. A 3D simulation environment running in parallel with the vehicle control system provides real-time proximity/collision detection and flight volume constraints. Virtual coupling elements are used to connect a haptic user interface, the simulation environment, and the vehicle controller. An implementation of the system using an electrical radio controlled (RC) helicopter in an indoor environment is presented.

Copyright © 2009 by American Society of Mechanical Engineers
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Figure 1

Primary components of a motion capture system for 6DOF object tracking

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Figure 2

System configuration for closed-loop feedback control

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Figure 3

Helicopter configuration and coordinates

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Figure 4

PID control system for each degree-of-freedom (X, Y, Z. and Yaw)

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Figure 5

(a) Single connection virtual coupling and (b) multiuser virtual coupling

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Figure 6

Virtual coupling method applied to helicopter control

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Figure 7

Proximity field repulsion

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Figure 8

Haptics-enabled MoCap system configuration

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Figure 9

Haptic device and physics-based helicopter simulation environment

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Figure 10

CX-180 helicopter with MoCap markers attached

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Figure 11

Haptics-enabled flight control in operation



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