Conception of a Multisensors System for a Mobile Robot Applied to the Building Industry

A mobile robot of the fourth generation requires an on-line, real-time sensory feedback system to guide the robot, to stay on planned path, or to avoid unexpected obstacles. The study we oresent in this paper concerns a multisensors and multiprocessors fusion in order to create a new model of the mobile robot's world. The solution we suggest for a dynamic mixed fusion is a spherical model with estimated sensors data. After presenting this theory, we explain our approach concerning multisensors fusion and we justify our technical choices for this project. At the end, we give an efficient computational model for mltisensors fusion, which consists in representing the data in a single and unified framework so that the computation time can be significantly reduced and vecomes compatible with a micro-computer