Outdoor haptic teleoperation of a hexarotor UAV

This paper considers the design and control of a Remotely Operated Aerial System Remotely Operated (ROAS) with force feedback to pilot in order to increase the perception level. The force experienced by the pilot through a Human Machine Interface (HMI) considers and it is proportional to the translational speed and proximity to objects located in the environment where the UAV evolves. In order to test the performance and feasibility of the developed platform and control strategy, experimental tests have been carried out indoor and outdoor which represent a contribution in the current literature on the subject. Experimental results obtained show an acceptable performance for both flight conditions.