Parametric Risk Field for Haptic Teleoperation of Unmanned Ground Vehicle

Abstract

In this paper, the algorithm of the Parametric Risk Field (PRF) concept is applied for haptic teleoperation of Unmanned Ground Vehicle (UGV). PRF is a type of the Artificial Force Fields (AFF) which maps 2D environmental constraint into repulsive forces. AFF is applied in haptic feedback to allow operators to interpret the repulsive forces as impedance to their control deflections when a potential for collision exists. PRF consists of many user-defined parameters, some are independent, and others are dependent on the UGV’s velocity and obstacle displacement. The algorithm was tested on a UGV Teleoperated by robotic arm. The results has shown alignment between PRF values and experimental mapped force. The future plan for this work is to develop the PRF to map 3D environmental constraint in order to be applied on Unmanned Aerial Vehicles (UAV's)

Keywords: KURI Haptic Teleoperation system, Environmental, Parametric Risk Field (PRF)