Bilateral haptic teleoperation of vtol aerial robots in complex cluttered environment
This thesis focuses on investigating the haptic interfaces, obstacle avoidance algorithms and control schemes for haptic teleoperation of VTOL aerial robots in the cluttered three-dimensional environment. An admittance haptic interface is developed that provides spatial haptic cues that can better help a pilot feel the motion of a slave robot and achieve navigation tasks in the cluttered environment than a classical impedance haptic interface. Different state mapping strategies between the...[Show more]
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