Local and global teleoperation of an autonomous vehicle

This paper purpose is the design and construction of an autonomous vehicle controller for teleoperation. In this kind of system we have a user with a master controller that interacts with a slave system that directly controls a vehicle-robot, although, between the user and the robot, there is a communication channel. For local or short teleoperation, radio frequency is used, and in global or large teleoperation, the Internet. The controller is a system that is able to give real time feedback, position, speed, and real time video, in order for the user to know the status of the robot in the remote place, thus, giving the ability to work with the vehicle like there was no communication channel in between. The architecture is modeled in bond graphs and variable state equations that could be used to test the system.