Virtual Environment for Remote Control of UGVs Using a Haptic Device

被引：0
|
作者：
Roberto Segura, F. [2 ]
Urrutia-Urrutia, Pilar [1 ]
Andrea Sanchez, Z. [1 ]
Tomas Nunez, C. [3 ]
Santiago Alvarez, T. [2 ]
Franklin Salazar, L. [1 ]
Altamirano, Santiago [1 ]
Buele, Jorge [1 ]
机构：
[1] Univ Tecn Ambato, Ambato 180103, Ecuador
[2] Inst Tecnol Super Guayaquil Ambato, Ambato 180205, Ecuador
[3] CELEC EP, Banos 180250, Ecuador
来源：
DEVELOPMENTS AND ADVANCES IN DEFENSE AND SECURITY | 2020年 / 152卷
关键词：
Haptic interface; Force feedback; Training; Teleoperation; Unmanned ground vehicle; Virtual reality;
D O I：
10.1007/978-981-13-9155-2_41
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a virtual reality environment designed for military training personnel, focused on the remote control of unmanned land vehicles. The environment design has been made in the V-REP software, where a prototype of an explorer robot based on the kinematic model of a unicycle is presented. This vehicle is attached with proximity sensors to detect obstacles and thus be able to avoid them. Instead of operating with a conventional joystick that only allows the use of push buttons, a haptic device with force feedback is used with which the user experiences a more realistic immersive situation. In this context, the person can manipulate the unmanned vehicle direction and perceive when there is a collision with a nearby object as if it were on the site. To link the input device (Novint Falcon) with the virtual interface, the device mathematical modelling is carried out, and through MATLAB, the respective processing and the implementation of the proportional-integral-derivative (PID) control algorithm for the displacement are made. The after-scenario questionnaire (ASQ) test is used, and a general average of 1.78/7 is obtained. Being a value close to 1, it shows the acceptance that the system has for the users.
引用
收藏
页码：521 / 531
页数：11
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