Teleoperación de un hexacóptero con realimentación de fuerza mediante un simulador en ambientes semiestructurados

Abstract

The project simulates teleoperation of hexacopters in indoor environments. Through the design, modeling and implementation of environments, it imitate semi-structured environments with static obstacles, including a house, a church and a supermarket. Each one presents different obstacles, displaying different levels of difficulty in the application, as well as five tasks to accomplish selected by the user, or you can fly without any goal to achieve. The application offers a choice between two models of hexacopters, achieving more useful and interactive. The simulator includes the option of force feedback, which is implemented with a force feedback joystick, warning the user about possible collisions, and giving the feeling of presence to the operator. Force applied is limited by the haptic device. The application developed focuses on three-dimensional scenes in semi-structured indoor environments, reproducing the environment variables (appearance, features, context) of a real system, in this sense, the implementation of the simulator, is a low-cost technique that offers several possible scenarios a situation with errors have no effect on the real world.