Athenea Journal

Vol.5, Issue 16, (pp. 37-47)

ISSN-e: 2737-6419

Guadalupe N. and Chávez D. Simulation of remote control of a hexacopter with force feedback in semi-structured environments

https://doi.org/10.47460/athenea.v5i16.76

Simulation of remote control of a hexacopter with force

feedback in semi-structured environments

*Correspondencia: danilo.chavez@epn.edu.ec

*Correspondence: danilo.chavez@epn.edu.ec

Received (25/04/2023), Accepted (21/05/2024)

Abstract: This project simulates the flight of hexacopters in indoor environments. Through the design, modeling, and

implementation of environments, it imitates semi-structured environments with static obstacles, including a house, a

church, and a supermarket. Each environment displays different levels of difficulty. The application offers a choice

between two models of hexacopters, achieving more useful and interactive, and it includes the option of force feedback,

implemented with a force feedback joystick, warning the user about possible collisions, and giving the feeling of

presence to the operator. The haptic device limits the force applied. The application focuses on three-dimensional

scenes in semi-structured indoor environments, reproducing the environment variables (appearance, features, context)

of a real system; in this sense, the implementation of the simulator is a low-cost technique that offers several possible

scenarios without effects in the real world.

Keywords: hexacopters, haptic device, force feedback, simulation.

Simulación de control remoto de un hexacóptero con retroalimentación de fuerza en entornos

semiestructurados

Resumen: Este proyecto simula el vuelo de hexacópteros en ambientes interiores. A través del diseño, modelado e

implementación de entornos, imita entornos semiestructurados con obstáculos estáticos, incluyendo una casa, una

iglesia y un supermercado. Cada entorno muestra diferentes niveles de dificultad. La aplicación ofrece la posibilidad

de elegir entre dos modelos de hexacópteros, consiguiendo ser más útiles e interactivos, e incluye la opción de

retroalimentación de fuerza, implementada con un joystick de retroalimentación de fuerza, advirtiendo al usuario sobre

posibles colisiones, y dando la sensación de presencia al operador. El dispositivo háptico limita la fuerza aplicada. La

aplicación se centra en escenas tridimensionales en ambientes interiores semiestructurados, reproduciendo las

variables del entorno (aspecto, características, contexto) de un sistema real; En este sentido, la implementación del

simulador es una técnica de bajo coste que ofrece varios escenarios posibles sin efectos en el mundo real.

Palabras clave: hexacópteros, dispositivo háptico, retroalimentación de fuerza, simulación

Natasha Guadalupe

https://orcid.org/0009-0001-5913-4105

natasha.guadalupe.ng@gmail.com

Departamento de Automatización y

Control Industrial,

Escuela Politécnica Nacional

Quito, Ecuador

Danilo Chávez*

https://orcid.org/0000-0002-7529-9006

danilo.chavez@epn.edu.ec

Departamento de Automatización y

Control Industrial,

Escuela Politécnica Nacional

Quito, Ecuador

Athenea Journal

Vol.5, Issue 16, (pp. 37-47)

ISSN-e: 2737-6419

Guadalupe N. and Chávez D. Simulation of remote control of a hexacopter with force feedback in semi-structured environments

I. INTRODUCTION

The development of flight simulators is a solution to the education and training of students in various areas

of engineering. The advantages of using a flight simulator as a facilitating tool for the experience acquisition

are very high. The student can develop his capabilities since high-performance training stimulates the

mental, physical, and psychological aspects. In this way, the simulation allows them to obtain skills for a

proper flight, a realistic flight experience, and a high confidence level in the flight simulator. [1].

Computer simulation is often used to model systems for which analytical solutions cannot be found [2]. By

simulating the teleoperation of a hexacopter, focused on applications of three-dimensional scenarios in

internal semi-structured environments, reproducing the environment and its variables (appearance,

features, context), constitutes a technique of low cost that offers several possible scenarios without effects

in the real world.

We propose the Unity 3D video game engine utilization to simulate semi-structured environments with

static obstacles, and two models of hexacopters. In addition, the application has the option to use the

feedback force, which is carried out with the Microsoft SideWinder Force Feedback 2 Joystick haptic device;

this controller limits the force feedback applied, allowing warn the user about possible collisions, and giving

the feeling of presence to the operator. Finally, a series of tests are carried out to evaluate their performance.

Initially, menus, scenarios, and maps are validated to continue with the behavior of the hexacopters during

their flights, ending with user feedback on the handling of the Flight Simulator, which is done through a

survey that complements the previous evaluations.

II. UNMANNED AERIAL VEHICLE

An unmanned aerial vehicle (UAV) is defined as an aircraft without a crew, which may be reusable and can

maintain a level of controlled and sustained flight. This vehicle is powered by one or more engines [4].

Advances in UAVs have been significant so their applications increasing with time. One of the main reasons

is that they can be used for tasks that involve some difficulty or danger to conventional vehicles crewed by

people [5]. Also, UAVs acquire great importance in performing inspection, control, and sensing of high

chemical toxicity tasks, thus reducing human exposure. Each of them would imply a high cost and risk to

people, and loss of productivity without their use [6].

A. Hexacopter

A hexacopter is a type of UAV that consists of six rotors, arranged in four distinct configurations [7]. Among

the main characteristics of this type of vehicle is good stability, due to the opposite direction of rotation of

its propellers, which prevents it from rotating on its axis continuously due to the inertia of these. They also

have a good time in flight concerning UAVs of the smallest number of rotors, since they can carry larger

batteries and their motors work at fewer revolutions. Finally, it is important to emphasize their great power

and load capacity [8]. The possible configurations of a hexacopter are: Cross (+), X, Y6, and H (Fig. 1).

"A hexacopter exhibits flight performance comparable to that of a helicopter. It maneuvers by rotating its

propellers, which generate the necessary thrust for movement. Each engine can be controlled

independently, allowing for various translations and rotations by adjusting the speed of each axis as needed.

During a hexacopter's flight, several forces and torques are considered, including gravity, air friction, and

the torque produced by the propellers." (Fig. 2) [9].

The simpler movement is the ascent and descent vertical of the aircraft, which is possible with the increase

and decrease of the speed of the rotors of form equal and simultaneously [5].