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Haptic Collision Avoidance For A Remotely Operated Quadrotor Uav In Indoor Environments, Adam M. Brandt

Theses and Dissertations

A quadrotor is an omnidirectional unmanned air vehicle that is suitable for indoor flight because of its ability to hover and maneuver in confined spaces. The remote operation of this type of vehicle is difficult due to a lack of sensory perception; typically, the view from the onboard camera is the only information transmitted to the pilot. This thesis proposes using force feedback exerted by the command input device on the hand of the pilot to assist in avoiding collisions while navigating in indoor environments. Five candidate algorithms are presented for calculating the forces to be felt by the pilot …