This paper presents a preliminary design of re-motely teleoperated vehicle such as mobile robot us-ing haptic device. The perception principle of theslave side is constructed based on the classical Po-tential Field approach and especially used for detect-ing the presence of obstacles. A feedback linerizationscheme is employed to render the mobile robot to bea passive system. As the interaction with the obsta-cle based on the potential Øeld method is passive bynature, with additional assumption that the user isskilled, the connection between the haptic device andthe mobile robot is guaranteed to be stable. In thiswork, in order to simplify the controller development,no communication channel delay is assumed.
