Teleoperation of a drone based on a virtual environment

被引：0
|
作者：
Rojas, Belem [1 ]
Abaunza, Hernan [1 ]
Castillo, Pedro [1 ]
Thouvenin, Indira [1 ]
Lozano, Rogelio [1 ]
机构：
[1] Sorbonne Univ, Univ Technol Compiegne, CNRS, UMR 7253 Heudiasyc, Compiegne, France
来源：
2019 INTERNATIONAL WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED UAS 2019) | 2019年
关键词：
MOBILE ROBOT;
D O I：
10.1109/reduas47371.2019.8999714
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a teleoperation system for a quadrotor using a virtual environment is presented. A virtual aerial vehicle was introduced by applying the dynamic model of a quadrotor. An attitude controller was implemented for an operator to pilot the drone. The behavior of the virtual drone is communicated to a real vehicle through a mapping between the real and virtual spaces. This mapping is introduced in a robust quaternion-based controller ensures a safe flight in the real world. Simulations and experimental results are carried out to validate the proposal. With this idea of controlling a drone virtually, the performance of beginner and expert drone pilots is improved.
引用
收藏
页码：160 / 165
页数：6
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