Haptics based bilateral shared telemanipulation of aerial vehicle over open communication network

In this paper, we develop haptic based force reflecting interaction interface for bilateral telemanipulation of miniature aerial vehicle. The human-master interface combines shared control term with the reflected force fields mapped by using artificial force field and virtual impedance force field. The shared control for the human-master comprises velocity signals of the with the scaled position of the master haptic manipulator. The shared input interface for the slave-flying environment is developed by combining scaled position of the master manipulator with the velocity of the remote MAV. The data transmission between ground station and remote vehicle are carried out by open internet communication network. Evaluation results on a qudrotor MAV system are presented to demonstrate the effectiveness for real-time applications.