Enhanced Teleoperation and Visual-Force Feedback with Obstacle Avoidance for a Car-like Mobile Robot based on WAN Network Architecture
Corressponding author's email:
thientd@hcmute.edu.vnDOI:
https://doi.org/10.54644/jte.2025.1601Keywords:
Car-like mobile robot, Wide Area Network (WAN), Teleoperation control, Message Queuing Telemetry Transport (MQTT), Obstacle avoidanceAbstract
This paper presents an enhanced teleoperation system and visual-force feedback with obstacle avoidance for a Car-like mobile robot. The proposed system includes a local station, a remote station, and a communication channel. The local station allows the operator to give acceleration, orientation, and driving mode commands. It generates the haptic effect of the obstacles in the remote station for the operator due to the visual-force feedback. The remote station is a Car-like mobile robot executing control commands from the local station and providing feedback on the working status of the robot. Moreover, the robot has the ability of obstacle avoidance through the Potential Field (PF) algorithm with input signals being the distance from the robot to obstacles and a virtual repulsive force that influences both the steering angle of the robot and the haptic steering wheel system. The communication channel will connect the local station and the remote station wirelessly based on Wide Area Network (WAN) architecture with the Message Queuing Telemetry Transport (MQTT) to resolve complex problems such as control distance, latency, etc. Several case studies are used to evaluate the efficacy of providing the operator with haptic and visual feedback at any control distance.
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