This article presents a novel approach to haptic teleoperation. Specifically, we use control barrier functions (CBFs) to generate force feedback to help human operators safely fly quadrotor UAVs. CBFs take a control signal as input and output a control signal that is as close as possible to the initial control signal, while also meeting specified safety constraints. In the proposed method, we generate haptic force feedback based on the difference between a command issued by the human operator and the safe command returned by a CBF. In this way, if the user issues an unsafe control command, the haptic feedback will help guide the user towards the safe input command that is closest to their current command. We conducted a within-subject user study, in which 12 participants flew a simulated UAV in a virtual hallway environment. Participants completed the task with our proposed CBF-based haptic feedback, no haptic feedback, and haptic feedback generated via parametric risk fields, which is a state-of-the-art method described in the literature. The results of this study show that CBF-based haptic feedback can improve a human operator‘s ability to safely fly a UAV and reduce the operator's perceived workload, without sacrificing task efficiency.

中文翻译：

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通过控制屏障功能对无人机进行触觉遥操作

本文介绍了一种新的触觉遥操作方法。具体来说，我们使用控制屏障函数 (CBF) 来生成力反馈，以帮助人类操作员安全地驾驶四旋翼无人机。CBF 以控制信号为输入，输出尽可能接近初始控制信号的控制信号，同时满足规定的安全约束。在所提出的方法中，我们根据人类操作员发出的命令与 CBF 返回的安全命令之间的差异来生成触觉力反馈。这样，如果用户发出不安全的控制命令，触觉反馈将有助于将用户引导至最接近其当前命令的安全输入命令。我们进行了一项受试者内用户研究，其中 12 名参与者在虚拟走廊环境中驾驶模拟无人机。参与者使用我们提出的基于 CBF 的触觉反馈、无触觉反馈和通过参数风险场生成的触觉反馈完成了任务，这是文献中描述的最先进的方法。这项研究的结果表明，基于 CBF 的触觉反馈可以提高人类操作员安全驾驶无人机的能力，并减少操作员的感知工作量，而不会牺牲任务效率。