Evaluation of Haptic Feedback in the Performance of a Teleoperated Unmanned Ground Vehicle in an Obstacle Avoidance Scenario

摘要

This study investigates the effect of haptic feedback on the teleoperation system. The performance of a teleoperated unmanned ground vehicle (UGV) was analyzed in terms of the stability, task performance, and control effort of the operator. The UGV navigation task was performed as a benchmark test for evaluation. The haptic feedback applies a potential function based on an obstacle avoidance algorithm in which the operator receives a repulsive force feedback. Psychophysical experiments were performed with three experimental cases to measure nine performance metrics. A one-way analysis of variance and post-hoc analysis were performed for the statistical analysis. In conclusion, the effect of haptic feedback is superior in terms of stability and task performance, but not in terms of control effort.