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Application Of Simultaneous Localization And Mapping Algorithms For Haptic Teleoperation Of Aerial Vehicles, Bandar Hulayyil Aldhafeeri
Application Of Simultaneous Localization And Mapping Algorithms For Haptic Teleoperation Of Aerial Vehicles, Bandar Hulayyil Aldhafeeri
Electronic Thesis and Dissertation Repository
In this thesis, a new type of haptic teleoperator system for remote control of Unmanned Aerial Vehicles (UAVs) has been developed, where the Simultaneous Localization and Mapping (SLAM) algorithms are implemented for the purpose of generating the haptic feedback. Specifically, the haptic feedback is provided to the human operator through interaction with artificial potential field built around the obstacles in the virtual environment which is located at the master site of the teleoperator system. The obstacles in the virtual environment replicate essential features of the actual remote environment where the UAV executes its tasks. The state of the virtual environment …