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Constraint-based Shared Control for UAVs using the iTaSC Framework

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Description

Human-robot shared control combines the high level planning capabilities of humans with the low level fast sensing of robots.
This video shows the implementation of human-robot shared control of UAVs using the iTaSC methodology and software framework.
This approach is experimentally evaluated by flying a multirotor UAV safely in a GPS-denied corridor using several sonars and an infrared range finder to avoid (dynamic) obstacles and a camera for tracking a marker, all while keeping the pilot's control intuitive.

The video shows the experimental evaluation of human-robot shared control of UAVs using the iTaSC methodology and software framework. The video shows a multirotor UAV flying in a GPS-denied corridor using several sonars and an infrared range finder to avoid (dynamic) obstacles and a camera for tracking a marker, all while keeping the pilot's control intuitive.

This video shows one large experiment consisting of several phases that validate the different desired behaviours.
The first phase shows the basic collision avoidance control and shared control together with its fast, reactive behaviour to avoid a dynamic object. The second phase includes additionally tracking a stationary marker while following user inputs. The third phase shows tracking a dynamic marker without user inputs. Before each phase starts the user repositions the UAV in hover at the centre of the corridor.

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