MQTT Protocol of IoT for Real Time Bilateral Teleoperation Applied to Car-Like Mobile Robot

This paper presents the design and implementation of a teleoperation system for a real and a simulated car-like mobile robot. It proposes the use of communication protocol MQTT, which uses publisher-subscriber architecture. The teleoperation system has a local station and a remote station. The human operator uses a joystick to command the mobile robot located in the remote station. A human-machine interface and visual feedback are the aids for the human operator to manipulate the car-like. In this case the internet was used as the medium of communication. Finally, the efficiency of the system was analyzed from different remote locations.