Super-ellipsoidal Potential Function for Autonomous Collision Avoidance of a Teleoperated UAV
In this paper, we present the design of the
super-ellipsoidal potential function (SEPF), that can be used for
autonomous collision avoidance of an unmanned aerial vehicle (UAV)
in a 3-dimensional space. In the design of SEPF, we have the
full control over the shape and size of the potential function. In
particular, we can adjust the length, width, height, and the amount
of flattening at the tips of the potential function so that the collision
avoidance motion vector generated from the potential function can
be adjusted accordingly. Based on the idea of the SEPF, we also
propose an approach for the local autonomy of a UAV for its collision
avoidance when the UAV is teleoperated by a human operator. In
our proposed approach, a teleoperated UAV can not only avoid
collision autonomously with other surrounding objects but also track
the operator’s control input as closely as possible. As a result, an
operator can always be in control of the UAV for his/her high-level
guidance and navigation task without worrying too much about
the UAVs collision avoidance while it is being teleoperated. The
effectiveness of the proposed approach is demonstrated through a
human-in-the-loop simulation of quadrotor UAV teleoperation using
virtual robot experimentation platform (v-rep) and Matlab programs.
[1] S.R. Barros dos Santos, C.L. Nascimento, S.N. Givigi, ”Design of attitude
and path tracking controllers for quad-rotor robots using reinforcement
learning,” in Aerospace Conference, 2012 IEEE , vol., no., pp.1-16, 3-10
March 2012.
[2] R. He, S. Prentice, and N. Roy, Planning in information space for
a quadrotor helicopter in a gps-denied environment, in Robotics and
Automation, 2008. ICRA 2008. IEEE International Conference on, 2008,
pp. 18141820.
[3] L. Garcia-Delgado, A. Dzul, V. Santibanez, M. Llama, ”Quad-rotors
formation based on potential functions with obstacle avoidance,” in
Control Theory and Applications, IET , vol.6, no.12, pp.1787-1802, Aug.
16 2012.
[4] B. Hui, S. Shihuang, W. Hongyu, ”A VTOL quadrotor platform for
multi-UAV path planning,” in Electronic and Mechanical Engineering
and Information Technology (EMEIT), 2011 International Conference on
, vol.6, no., pp.3079-3081, 12-14 Aug. 2011.
[5] C. Masone, A. Franchi, H.H. Bulthoff, P.R. Giordano, ”Interactive
planning of persistent trajectories for human-assisted navigation of
mobile robots,” Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ
International Conference on , vol., no., pp.2641,2648, 7-12 Oct. 2012.
[6] C. P. G. Niemeyer and G. Hirzinger, Telerobotics, in Springer Handbook
of Robotics, B. Siciliano and O. Khatib, Eds. Springer, 2008, pp. 741757.
[7] A. Franchi, C. Secchi, M. Ryll, H.H. Blthoff, and P.R. Giordano, Shared
control: Balancing autonomy and human assistance with a group of
quadrotor UAVs. IEEE Robotics and Automation Magazine, vol. 19, no.
3, 2012.
[8] T. M. Lam, H. W. Boschloo, M. Mulder, and M. M. V. Paassen, Artificial
force field for haptic feedback in UAV teleoperation, IEEE Trans. on
Systems, Man, and Cybernetics. Part A: Systems and Humans, vol. 39,
no. 6, pp. 13161330, 2009.
[9] N. Diolaiti and C. Melchiorri, Tele-operation of a mobile robot through
haptic feedback, in Proc. IEEE Int. Workshop HAVE, Ottawa, ON,
Canada, Nov. 1718, 2002, pp. 6772.
[10] P. Stegagno, M. Basile, H.H. Bulthoff, A. Franchi, ”A semi-autonomous
UAV platform for indoor remote operation with visual and haptic
feedback,” Robotics and Automation (ICRA), 2014 IEEE International
Conference on , vol., no., pp.3862,3869, May 31 2014-June 7 2014.
[11] F. Rehmatullah, J. Kelly, ”Vision-Based Collision Avoidance for
Personal Aerial Vehicles Using Dynamic Potential Fields,” in Computer
and Robot Vision (CRV), 2015 12th Conference on , vol., no., pp.297-304,
3-5 June 2015.
[12] M. Nieuwenhuisen, D. Droeschel, J. Schneider, D. Holz, T. Labe, and S.
Behnke, Multimodal obstacle detection and collision avoidance for micro
aerial vehicles, in Mobile Robots (ECMR), 2013 European Conference
on. IEEE, 2013, pp. 712.
[13] C. Masone, P. Robuffo Giordano, H. H. Blthoff, and A. Franchi,
Semi-autonomous trajectory generation for mobile robots with integral
haptic shared control, in 2014 IEEE Int. Conf. on Robotics and
Automation, Hong Kong, China, May. 2014.
[14] S. Stramigioli, R. Mahony, and P. Corke, A novel approach to haptic
tele-operation of aerial robot vehicles, in 2010 IEEE Int. Conf. on
Robotics and Automation, Anchorage, AK, May 2010, pp. 53025308.
[15] A. Y. Mersha, S. Stramigioli, and R. Carloni, Switching-based mapping
and control for haptic teleoperation of aerial robots, in 2012 IEEE/RSJ
Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Oct.
2012, pp. 26292634.
[16] H. Rifa, M. D. Hua, T. Hamel, and P. Morin, Haptic-based bilateral
teleoperation of underactuated unmanned aerial vehicles, in 18th IFAC
World Congress, Milano, Italy, Aug. 2011, pp. 13 78213 788.
[17] S. Omari, M. D. Hua, G. J. J. Ducard, and T. Hamel, Bilateral haptic
teleoperation of VTOL UAVs, in 2013 IEEE Int. Conf. on Robotics and
Automation, Karlsruhe, Germany, May 2013, pp. 23852391.
[18] D. Lee, A. Franchi, P. Robuffo Giordano, H. I. Son, and H.H. Blthoff,
”Semiautonomous Haptic Teleoperation Control Architecture of Multiple
Unmanned Aerial Vehicles,” in Mechatronics, IEEE/ASME Transactions
on , vol.18, no.4, pp.1334-1345, Aug. 2013.
[19] D. Lee, A. Franchi, P. Robuffo Giordano, H. I. Son, and H.H. Blthoff,
Haptic teleoperation of multiple unmanned aerial vehicles over the
internet, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai,
China, May 2011, pp. 13411347.
[20] E. J. Rodriguez-Seda, J. J. Troy, C. A. Erignac, P. Murray, D. M.
Stipanovic, and M. W. Spong, Bilateral teleoperation of multiple mobile
agents: Coordinated motion and collision avoidance, IEEE Trans. Control
Syst. Technol., vol. 18, no. 4, pp. 984992, Jul. 2010.
[21] A. M. Brandt and M. B. Colton, Haptic collision avoidance for a
remotely operated quadrotor uav in indoor environments, in Systems Man
and Cybernetics (SMC), 2010 IEEE International Conference on, 2010,
pp. 27242731.
[22] J. Mendes, R. Ventura, ”Safe teleoperation of a quadrotor using
FastSLAM,” Safety, Security, and Rescue Robotics (SSRR), 2012 IEEE
International Symposium on , vol., no., pp.1,6, 5-8 Nov. 2012.
[23] J. Israelsen, M. Beall, D. Bareiss, D. Stuart, E. Keeney, J. van
den Berg, ”Automatic collision avoidance for manually tele-operated
unmanned aerial vehicles,” in Robotics and Automation (ICRA), 2014
IEEE International Conference on , vol., no., pp.6638-6643, May 31
2014-June 7 2014.
[24] O. Khatib, Real-time obstacle avoidance for manipulators and mobile
robots, Int. J. Robot. Res., vol. 5, no. 1, pp. 9098, 1986.
[25] M. Howie, Choset, ”Principles of robot motion: theory, algorithms, and
implementation,” MIT press, 2005.
[1] S.R. Barros dos Santos, C.L. Nascimento, S.N. Givigi, ”Design of attitude
and path tracking controllers for quad-rotor robots using reinforcement
learning,” in Aerospace Conference, 2012 IEEE , vol., no., pp.1-16, 3-10
March 2012.
[2] R. He, S. Prentice, and N. Roy, Planning in information space for
a quadrotor helicopter in a gps-denied environment, in Robotics and
Automation, 2008. ICRA 2008. IEEE International Conference on, 2008,
pp. 18141820.
[3] L. Garcia-Delgado, A. Dzul, V. Santibanez, M. Llama, ”Quad-rotors
formation based on potential functions with obstacle avoidance,” in
Control Theory and Applications, IET , vol.6, no.12, pp.1787-1802, Aug.
16 2012.
[4] B. Hui, S. Shihuang, W. Hongyu, ”A VTOL quadrotor platform for
multi-UAV path planning,” in Electronic and Mechanical Engineering
and Information Technology (EMEIT), 2011 International Conference on
, vol.6, no., pp.3079-3081, 12-14 Aug. 2011.
[5] C. Masone, A. Franchi, H.H. Bulthoff, P.R. Giordano, ”Interactive
planning of persistent trajectories for human-assisted navigation of
mobile robots,” Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ
International Conference on , vol., no., pp.2641,2648, 7-12 Oct. 2012.
[6] C. P. G. Niemeyer and G. Hirzinger, Telerobotics, in Springer Handbook
of Robotics, B. Siciliano and O. Khatib, Eds. Springer, 2008, pp. 741757.
[7] A. Franchi, C. Secchi, M. Ryll, H.H. Blthoff, and P.R. Giordano, Shared
control: Balancing autonomy and human assistance with a group of
quadrotor UAVs. IEEE Robotics and Automation Magazine, vol. 19, no.
3, 2012.
[8] T. M. Lam, H. W. Boschloo, M. Mulder, and M. M. V. Paassen, Artificial
force field for haptic feedback in UAV teleoperation, IEEE Trans. on
Systems, Man, and Cybernetics. Part A: Systems and Humans, vol. 39,
no. 6, pp. 13161330, 2009.
[9] N. Diolaiti and C. Melchiorri, Tele-operation of a mobile robot through
haptic feedback, in Proc. IEEE Int. Workshop HAVE, Ottawa, ON,
Canada, Nov. 1718, 2002, pp. 6772.
[10] P. Stegagno, M. Basile, H.H. Bulthoff, A. Franchi, ”A semi-autonomous
UAV platform for indoor remote operation with visual and haptic
feedback,” Robotics and Automation (ICRA), 2014 IEEE International
Conference on , vol., no., pp.3862,3869, May 31 2014-June 7 2014.
[11] F. Rehmatullah, J. Kelly, ”Vision-Based Collision Avoidance for
Personal Aerial Vehicles Using Dynamic Potential Fields,” in Computer
and Robot Vision (CRV), 2015 12th Conference on , vol., no., pp.297-304,
3-5 June 2015.
[12] M. Nieuwenhuisen, D. Droeschel, J. Schneider, D. Holz, T. Labe, and S.
Behnke, Multimodal obstacle detection and collision avoidance for micro
aerial vehicles, in Mobile Robots (ECMR), 2013 European Conference
on. IEEE, 2013, pp. 712.
[13] C. Masone, P. Robuffo Giordano, H. H. Blthoff, and A. Franchi,
Semi-autonomous trajectory generation for mobile robots with integral
haptic shared control, in 2014 IEEE Int. Conf. on Robotics and
Automation, Hong Kong, China, May. 2014.
[14] S. Stramigioli, R. Mahony, and P. Corke, A novel approach to haptic
tele-operation of aerial robot vehicles, in 2010 IEEE Int. Conf. on
Robotics and Automation, Anchorage, AK, May 2010, pp. 53025308.
[15] A. Y. Mersha, S. Stramigioli, and R. Carloni, Switching-based mapping
and control for haptic teleoperation of aerial robots, in 2012 IEEE/RSJ
Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Oct.
2012, pp. 26292634.
[16] H. Rifa, M. D. Hua, T. Hamel, and P. Morin, Haptic-based bilateral
teleoperation of underactuated unmanned aerial vehicles, in 18th IFAC
World Congress, Milano, Italy, Aug. 2011, pp. 13 78213 788.
[17] S. Omari, M. D. Hua, G. J. J. Ducard, and T. Hamel, Bilateral haptic
teleoperation of VTOL UAVs, in 2013 IEEE Int. Conf. on Robotics and
Automation, Karlsruhe, Germany, May 2013, pp. 23852391.
[18] D. Lee, A. Franchi, P. Robuffo Giordano, H. I. Son, and H.H. Blthoff,
”Semiautonomous Haptic Teleoperation Control Architecture of Multiple
Unmanned Aerial Vehicles,” in Mechatronics, IEEE/ASME Transactions
on , vol.18, no.4, pp.1334-1345, Aug. 2013.
[19] D. Lee, A. Franchi, P. Robuffo Giordano, H. I. Son, and H.H. Blthoff,
Haptic teleoperation of multiple unmanned aerial vehicles over the
internet, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai,
China, May 2011, pp. 13411347.
[20] E. J. Rodriguez-Seda, J. J. Troy, C. A. Erignac, P. Murray, D. M.
Stipanovic, and M. W. Spong, Bilateral teleoperation of multiple mobile
agents: Coordinated motion and collision avoidance, IEEE Trans. Control
Syst. Technol., vol. 18, no. 4, pp. 984992, Jul. 2010.
[21] A. M. Brandt and M. B. Colton, Haptic collision avoidance for a
remotely operated quadrotor uav in indoor environments, in Systems Man
and Cybernetics (SMC), 2010 IEEE International Conference on, 2010,
pp. 27242731.
[22] J. Mendes, R. Ventura, ”Safe teleoperation of a quadrotor using
FastSLAM,” Safety, Security, and Rescue Robotics (SSRR), 2012 IEEE
International Symposium on , vol., no., pp.1,6, 5-8 Nov. 2012.
[23] J. Israelsen, M. Beall, D. Bareiss, D. Stuart, E. Keeney, J. van
den Berg, ”Automatic collision avoidance for manually tele-operated
unmanned aerial vehicles,” in Robotics and Automation (ICRA), 2014
IEEE International Conference on , vol., no., pp.6638-6643, May 31
2014-June 7 2014.
[24] O. Khatib, Real-time obstacle avoidance for manipulators and mobile
robots, Int. J. Robot. Res., vol. 5, no. 1, pp. 9098, 1986.
[25] M. Howie, Choset, ”Principles of robot motion: theory, algorithms, and
implementation,” MIT press, 2005.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:71965", author = "Mohammed Qasim and Kyoung-Dae Kim", title = "Super-ellipsoidal Potential Function for Autonomous Collision Avoidance of a Teleoperated UAV", abstract = "In this paper, we present the design of the
super-ellipsoidal potential function (SEPF), that can be used for
autonomous collision avoidance of an unmanned aerial vehicle (UAV)
in a 3-dimensional space. In the design of SEPF, we have the
full control over the shape and size of the potential function. In
particular, we can adjust the length, width, height, and the amount
of flattening at the tips of the potential function so that the collision
avoidance motion vector generated from the potential function can
be adjusted accordingly. Based on the idea of the SEPF, we also
propose an approach for the local autonomy of a UAV for its collision
avoidance when the UAV is teleoperated by a human operator. In
our proposed approach, a teleoperated UAV can not only avoid
collision autonomously with other surrounding objects but also track
the operator’s control input as closely as possible. As a result, an
operator can always be in control of the UAV for his/her high-level
guidance and navigation task without worrying too much about
the UAVs collision avoidance while it is being teleoperated. The
effectiveness of the proposed approach is demonstrated through a
human-in-the-loop simulation of quadrotor UAV teleoperation using
virtual robot experimentation platform (v-rep) and Matlab programs.", keywords = "Artificial potential function, autonomy, collision
avoidance, teleoperation, quadrotor, UAV.", volume = "10", number = "1", pages = "164-6", }
