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Artificial potential field for remotely operated vehicle haptic control in dynamic environments


Le, KD and Nguyen, HD and Ranmuthugala, D and Forrest, A, Artificial potential field for remotely operated vehicle haptic control in dynamic environments, Journal of Systems and Control Engineering (Proceedings of the Institution of Mechanical Engineers Part I), 230, (9) pp. 962-977. ISSN 2041-3041 (2016) [Refereed Article]

Copyright Statement

Copyright 2016 IMechE

DOI: doi:10.1177/0959651816660484


This article presents the development of a novel artificial potential field technique for a haptic controller of an underwater remotely operated vehicle to assist the pilot to avoid obstacles. The artificial potential field technique is used to replicate potential risks presented by underwater obstacles in the vicinity of the remotely operated vehicle. A risk avoidance vector is calculated based on the artificial potential field then transmitted to a haptic joystick to generate the tactile feedback, which enables the remotely operated vehicle pilot to be alerted to potential dangers due to surrounding obstacles and prompt the pilot through the joystick to avoid the dangers and safely navigate the vehicle. The novel artificial potential field technique can deal with both stationary and moving obstacles as it is combined with an obstacle motion detection algorithm based on fuzzy C-means and Kalman filter algorithms. These algorithms are applied to process raw data from the scanning sensor to identify the relative positions and velocities between the remotely operated vehicle and the obstacles, which are employed within the artificial potential field calculations. To validate the proposed technique, the haptic joystick and the novel artificial potential field formula were applied to control a simulated remotely operated vehicle within a virtual reality environment.

Item Details

Item Type:Refereed Article
Keywords:artificial potential field, ROV, dynamic obstacles, virtual reality, remotely operated vehicles
Research Division:Information and Computing Sciences
Research Group:Artificial intelligence
Research Field:Intelligent robotics
Objective Division:Defence
Objective Group:Defence
Objective Field:Intelligence, surveillance and space
UTAS Author:Le, KD (Mr Khoa Le)
UTAS Author:Nguyen, HD (Dr Hung Nguyen)
UTAS Author:Ranmuthugala, D (Professor Dev Ranmuthugala)
UTAS Author:Forrest, A (Dr Alexander Forrest)
ID Code:111154
Year Published:2016
Web of Science® Times Cited:3
Deposited By:Seafaring and Maritime Operations
Deposited On:2016-09-01
Last Modified:2022-10-04

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