Predictive feedback augmentation for manual control of an unmanned aerial vehicle with latency

IF 1.5 4区工程技术 Q2 ENGINEERING, AEROSPACE

International Journal of Micro Air Vehicles Pub Date : 2019-09-01 DOI:10.1177/1756829319869645

J. Cox, K. Wong

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引用次数: 3

Abstract

Teleoperation of unmanned aerial vehicles is hampered by communication delay, which causes feedback from command inputs to take considerable time to be displayed to the operator. For an international internet connection, round trip latencies can reach 500 ms. The satellite connections used for military unmanned aerial vehicles can have latencies in the order of seconds. This delay presents a substantial control problem, which has been solved in the past by control abstraction (instead of “roll left” the aircraft might be instructed “go to these coordinates”). Manual control remains difficult. This study borrows the client-side prediction concept from multiplayer video games to attempt to address the control delay to allow manual control. An estimate of the change in the vehicle state due to the commands that are yet to affect the feedback is computed and then the feedback that the pilot receives is modified to reflect this predicted change. Because of this change, the pilot can see immediately the effect of the control inputs. This study has explored the concept and built a prototype system functional in real time for flight testing with qualitative results presented.

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具有时延的无人机手动控制预测反馈增强

无人机的远程操作受到通信延迟的阻碍，这导致来自命令输入的反馈需要相当长的时间才能显示给操作员。对于国际互联网连接，往返延迟可能达到500 ms。用于军用无人机的卫星连接可能具有几秒量级的延迟。这种延迟带来了一个实质性的控制问题，过去通过控制抽象已经解决了这个问题（飞机可能会被指示“转到这些坐标”，而不是“向左滚动”）。手动控制仍然很困难。本研究借用了多人视频游戏的客户端预测概念，试图解决控制延迟问题，以允许手动控制。计算由于尚未影响反馈的命令而引起的车辆状态变化的估计，然后修改飞行员接收的反馈以反映该预测变化。由于这种变化，飞行员可以立即看到控制输入的效果。本研究探索了这一概念，并建立了一个用于飞行测试的实时原型系统，并给出了定性结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Micro Air Vehicles ENGINEERING, AEROSPACE-

CiteScore

3.00

自引率

7.10%

发文量

审稿时长

>12 weeks

期刊介绍： The role of the International Journal of Micro Air Vehicles is to provide the scientific and engineering community with a peer-reviewed open access journal dedicated to publishing high-quality technical articles summarizing both fundamental and applied research in the area of micro air vehicles.