Dynamic K inesthet i c Boundary fo r Hapt ic Te leoperat ion o f VTOL Aer ia l Robots in Complex Env i ronments
Abst rac t : Th is paper i n t roduces a novel cons t ra in t i n the mas te r j oys t i ck workspace , t e rmed the dynamic k ines t he t i c boundary , t ha t a ids a pi l o t t o nav igat e an ae r i a l robo t i c veh ic le t h rough a c lut t e red env i ronment . The p roposed app roach exp lo i t s spa t i a l cues by p ro j ec t i ng the remot e env i ronment i n to a ha rd boundary i n t he maste r dev i ce workspace tha t prov ides a p i l o t w i t h a na tu ra l r ep resen ta t i on o f approach ing obs tac les . The approach i s d i s t i ngu i shed f rom c lass i ca l fo rce f eedback app roaches by a l l ow i ng no rma l ope r a t ion o f the veh ic le i n f ree f l i gh t and onl y impos ing cons t ra in ts when approach ing and i n te rac t i ng wi t h t he env i ronment . A key advan tage i s t h a t con tac t w i th t he env i ronment cons t ra in t i s immed ia te l y pe r cep t i b le to a p i l o t , a l l ow ing t hem to make su i tab le ad jus t ments to the i r i npu ts . Modu l a t ion o f the ve loc i t y re fe rence fo r t he sl ave robo t ensures obs tac le avo idance wh i l e a l l ow ing a veh ic le t o approach as c lose as des i red to an ob jec t , a lbe i t a t a s low speed . A comprehens ive user s tudy was per fo rmed to sys temat i ca l l y t est t he p roposed a lgo r i t hm and compar i sons to two ex i s t i ng s ta te -o f - the -a r t approaches a re p rov ided to demons t ra te t he re la t i v e per fo rmance o f t he p roposed app roach .