Evaluation of haptic feedback cues on vehicle teleoperation performance in an obstacle avoidance scenario

The problem of teleoperating a mobile robot using shared autonomy is addressed: An onboard controller performs close-range obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle-range information. A strategy to convert such range information into forces is described, which are reflected to the operator's hand via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population both in virtual and in real environments show that this added haptic feedback significantly improves operator performance, as well as presence, in several ways (reduced collisions, increased minimum distance between the robot and obstacles, etc.) without a significant increase in navigation time.

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Haptic feedback for obstacle avoidance applied to unmanned aerial vehicles

2017 International Conference on Unmanned Aircraft Systems (ICUAS) ◽

10.1109/icuas.2017.7991328 ◽

2017 ◽

Author(s):

Hugo Courtois ◽

Nabil Aouf

Keyword(s):

Unmanned Aerial Vehicles ◽

Obstacle Avoidance ◽

Haptic Feedback ◽

Aerial Vehicles

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A Customizable Automotive Steering System With a Haptic Feedback Control Strategy for Obstacle Avoidance Notification

IEEE Transactions on Vehicular Technology ◽

10.1109/tvt.2011.2172472 ◽

2011 ◽

Vol 60 (9) ◽

pp. 4208-4216 ◽

Cited By ~ 18

Author(s):

Matthew J. Jensen ◽

A. Madison Tolbert ◽

John R. Wagner ◽

Fred S. Switzer ◽

Joshua W. Finn

Keyword(s):

Feedback Control ◽

Obstacle Avoidance ◽

Control Strategy ◽

Haptic Feedback ◽

Steering System ◽

Feedback Control Strategy

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Using haptic feedbacks for obstacle avoidance in helicopter flight

Progress in Flight Dynamics, Guidance, Navigation, and Control – Volume 10 ◽

10.1051/eucass/201810047 ◽

2018 ◽

Author(s):

L. Binet ◽

T. Rakotomamonjy

Keyword(s):

Obstacle Avoidance ◽

Haptic Feedback ◽

Force Fields ◽

Geometric Approach ◽

Simulation Environment ◽

Avoidance Procedure ◽

Helicopter Flight ◽

Virtual Force ◽

Congested Area ◽

Rotary Wing

An obstacle avoidance function based on haptic feedback has been developed and tested on a simulation environment at ONERA. The objective was to calculate and provide effcient haptic feedback through active (motorized) sidesticks for the piloting task of a rotary wing (RW) aircraft, in the vicinity of visible and known obstacles, corresponding to emergency avoidance procedure, or navigation in a congested area. Two different methods have been designed to generate the force bias based on virtual force fields (VFF) surrounding obstacles and on a geometric approach (GA) combined with T-theory, respectively. Piloted simulations were performed in order to evaluate the benefits for obstacle avoidance.

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