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Energy Based Set Point Modulation for Obstacle Avoidance in Haptic Teleoperation of Aerial Robots

Hou, Xiaolei; Yu, Changbin (Brad); Liang, Feng; Lin, Zhiyun

Description

This paper presents a novel obstacle avoidance approach that is capable of dealing with both static and dynamic obstacles in the environment with guaranteed collision-free navigation for haptic teleoperation of VTOL aerial robots. The proposed approach modulates the set point for the vehicle's controller based on the user input energy, estimated potential energy and vehicle's kinetic energy. By shuffling the potential and kinetic energy, vehicle's velocity is regulated according to the...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
URI: http://hdl.handle.net/1885/39739
Source: Proceedings of the 19th IFAC World Congress, 2014
DOI: 10.3182/20140824-6-ZA-1003.00231

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