Haptic and Virtual Reality Based Shared Control for MAV

摘要

In this paper, we propose a haptic and virtual reality based shared control with a potential and impedance forces feedback for bilateral shared manipulation of a miniature aerial vehicle (MAV). The interface allows operator for safe navigation, control, and stable interaction between the MAV and a remote environment. The proposed interface is tested on a quadrotor MAV to verify the effectiveness for interaction with the real-world environment.