Location of the Mobile Robot CENTAURE in a Modelled Environment with PYRAMIDE
Teleoperation of vehicles or manipulators can become much easier if a geometric model of the environment and of the robot is provided. From this model it is possible to rebuild data for operators and to elaborate teleoperation or guiding aids.
So PYRAMIDE was conceived at IRISA as a geometric modelling based on operators cognitive knowledge connected to a CSG data base. This model is iterately built by manned matching of a synthesis image issued from the geometric model, with a real world image. Experiments were lead on real teleoperation site where PYRAMIDE was coupled with the mobile robot CENTAURE developped at UGRA. The precision and the execution time for geometrical resetting or modelling tasks were estimated. The satisfying results allow the evaluation of PYRAMIDE as an efficient tool for simulation and assistance for task programming and execution.
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