Haptic Teleoperated Steering System for Unmanned Ground Vehicles
No Thumbnail Available
Date
2018
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Uva Wellassa University of Sri Lanka
Abstract
The teleoperation of Unmanned Ground Vehicle places high demands to its steering
system. The main objective of this research was to design and introduce a haptic
teleoperated steering system. While turning the steering wheel into desired angle,
master controller detects the signal and transmit it to slave controller through wireless
communication module. Then, it drives the slave motor. If there any disturbance
torque on the slave motor, armature current changes proportionally to that torque. The
change in armature current was sensed by a current sensor connected to the slave
controller. Then, that data transmits to the master controller. After that, master
controller regenerates a haptic feedback current signal and sends it to the feedback
motor driver. Then, the relationship of master and the slave motor responses was
obtained. Whenever the slave side feels any force, the current drawn by the slave
motor was increased from its normal value. This current regenerates the proportional
torque on the master side. Control scenario was evaluated with control systems
applications. By the use of a PID controller allowed more precise control of position
and thus, faster achievement of a stable position. The design was simulated in
Simulink software and control algorithm was tested for prototype model. The system
is settled within 8.4 s for the given angle inputs and disturbances. The system
responded to each force acting on the slave end according to a specific program,
which was coded and installed on a microcontroller. The results proved the model
can generate haptic feedback on the teleoperator. Further development of enhanced
performance of the system in wireless network environment is intended.
Keywords: Haptic Feedback, Steer By Wire, Teleoperation, Unmanned Ground Vehicle
Description
Keywords
Computer Science, Communication Technology