Diseño, simulación e implementación de un sistema de teleoperación para un robot móvil tipo Carlike

Abstract

The aim of this project is to implement a system that allows teleoperate carlike robot mobile, in a physical and simulated environment, using Internet. The teleoperation system is formed by: a local station, a remote station and a data server. The operator, located in the local station, commands the mobile robot. The communication protocol MQTT was chosen for the data server. The performance of this protocol is shown when it is implemented on a non-dedicated and limited channel such as the Internet. In addition, the effect of the physical distance on the delay in the communication and therefore on the maneuverability of the proposed system is appreciated. In the remote station are located the physical and simulated mobile robot, both provide visual feedback to the operator, in the first case through an IP camera and in the second case TeamViewer is used. The operator, who is at the local station, observes an HMI, which shows the data sent and received from the mobile robot.