This paper presents an experimental validation of a haptic feedback control system designed to enhance the remote control operability of UGVs (Uunmanned ground vehicles). The proposed system acquires obstacle data using 3D LiDAR (Three-Dimensional Light Detection and Ranging)) and processes it into a virtual 1D (One-Dimensional) obstacle field. By integrating a 1D VFF (Virtual Force Field) algorithm with the operator’s steering command, the system determines a reference steering command and provides intuitive steering guidance through haptic torque. The effectiveness of the system was evaluated based on three experimental scenarios conducted with a physical UGV platform in a real-world environment. Results demonstrate that the haptic feedback provides active steering guidance, successfully leading the vehicle along safe paths even in the absence of proactive steering from the operator. This paper confirms that the proposed haptic interface functions as an intuitive physical safety layer, ensuring collision avoidance and mitigating the operator’s control burden during remote UGV operations.
Choe et al. (Wed,) studied this question.