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.

Issue Section:
Research Papers
Keywords:
aerospace control, aerospace simulation, closed loop systems, collision avoidance, force feedback, haptic interfaces, helicopters, image motion analysis, mobile robots, remotely operated vehicles, telerobotics, virtual reality
Topics:
Haptics, Vehicles, Simulation, Force feedback
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 by American Society of Mechanical Engineers
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