Design of acceleration feedback of UGV using a Stewart platform

A fast-speed Unmanned Ground Vehicle (UGV) is utilized for logistics or carrying casualties in dangerous environments, substituting humans. Controlling the UGV's acceleration is essential for a human operator concerning stability. However, it is not possible to recognize the accurate accelerati...

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Bibliographic Details
Main Authors: Park, Keunwoo, Youn, Eunhye, Kim, Sunbum, Kim, Yeonsu, Lee, Geehyuk
Format: Conference Proceeding
Language:English
Subjects:
Automation
Control systems
Haptic interfaces
Land vehicles
Logistics
UGV control
Unmanned Swarm CPS
Visualization
Online Access:Request full text
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Description
Summary:A fast-speed Unmanned Ground Vehicle (UGV) is utilized for logistics or carrying casualties in dangerous environments, substituting humans. Controlling the UGV's acceleration is essential for a human operator concerning stability. However, it is not possible to recognize the accurate acceleration of UGV only with visual information. We designed haptic feedback using a Stewart platform for a pilot to control a UGV's acceleration and verified its effect through a user study. The result showed that a user with haptic feedback could drive a UGV with less acceleration on rough terrain than without haptic feedback.
ISSN:2642-3901
DOI:10.23919/ICCAS52745.2021.9648847