Teleoperación con realimentación de fuerza para una formación de robots manipuladores aéreos basados en algoritmos de control distribuido

Abstract

This project is oriented towards the study and development of a bidirectional teleoperation with distributed control algorithms for the formation of aerial manipulator robots in a virtual reality environment with obstacles.

The formation is based on a leader-follower consensus, where the distribution of the robots is established using a Laplacian matrix which is built from the reference positions of the follower robots inside a convex figure formed by virtual leaders. The reference of those leaders is generated through the modelling of the mechanical impedance by entering the force from the operator to the haptic device used for teleoperation.

In addition, an algorithm based on a repulsion zone is used for obstacle avoidance, the algorithm consists in a force feedback to the operator when certain objects are detected near the formation, allowing them to change the direction in order to avoid collisions inside the environment.

The validation of the algorithms is made through simulation level tests in the Matlab-Simulink software. This allows the verification of the formation, scalability, and reference following of a group of aerial manipulators as well as the teleoperation and obstacle avoidance.