Study of the Various Means of Perception in Mobile Robotics Applied to the Building Industry

A project, named ROBAT, of design and realization of an autonomous mobile platform for the building industry, achieving tasks at the end of carcass work, is currently developed within the ECOLE DES MINES DE DOUAI. Generally, it is possible to give a model for third generation mobile robots, which is a chain with three links: Perception Decision Action. In order to analyze in detail this point, the first stage was the comparison of the various means of perception/localization existing on the market. The analysis of this classification results, allowed us to define some concepts of perception according to the problems of the environment and taking into account some variations of this one. Moreover, from this analysis, we released three systems, which can be classified in three different ranges, and have each one a single principal function.