This paper presents an enhanced teleoperation system and visual-force feedback with obstacle avoidance for a Car-Like mobile robot based on Wide Area Network (WAN) architecture. The proposed system includes the control area and remote area, the operator uses actuators such as a steering wheel, gas pedal, shift level,.. to give commands. On the other hand, a Car-like mobile robot in the remote area received and executed the control signals, then feedback environment data surrounding the robot. However, the teleoperation system have many difficult problems like control distance, latency, human awareness, driving assistance,… Thus, the enhanced teleoperation system based on WAN architecture with MQTT protocol and applied with visual-force feedback is proposed to resolve some issues in that. Moreover, in the remote area is combined with an Artificial Potential Field algorithm to avoid obstacles in emergency situations for a Car-like mobile robot and alarms the operator. The major advantages of this paper are enhanced control distance and operator awareness ability to robot remote environment. The system is designed, stimulated, and experimented to prove its effectiveness.

Teleoperation, car-like mobile robot, MQTT protocol, WAN architecture, Haptic feedback, Visual feedback

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