DocumentCode :
3342049
Title :
Environment modeling and planning for a mobile robot dedicated to construction tasks
Author :
Bras, Patrice ; Chevalaz, Eric
Author_Institution :
IIRIAM, Marseille, France
fYear :
1991
fDate :
19-22 June 1991
Firstpage :
399
Abstract :
A mobile robot for construction works has its own environment modelling systems. However, to supervise easily such robot, it is necessary to use a ´high-level´ environment modeling. This modeling is an interface between architectural drawings and ´low-level environment model. The software presented describes the environment in which the robot works by a structured set of predefined objects extracted from architectural drawings. The software makes it possible to maintain coherence of this universe taking into account the modifications that can occur. The authors define a methodology to select and classify tasks to automate. They have developed a script-based task planner. Every task is described as a script. The use of scripts gives flexibility to the planner. Finally, they have developed an execution controller which supervises the execution of what has been planned taking into account the unexpected events. The operator can watch on a screen the task execution by means of graphic windows and dashboard windows. He can also communicate with the robot through these windows.<>
Keywords :
construction industry; mobile robots; planning (artificial intelligence); construction tasks; dashboard windows; environment modelling systems; execution controller; graphic windows; mobile robot; script-based task planner; Artificial intelligence; Buildings; Computer science; Environmental management; Intelligent robots; Mobile robots; Robotics and automation; Software maintenance; Technological innovation; Telephony;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
Type :
conf
DOI :
10.1109/ICAR.1991.240620
Filename :
240620
Link To Document :
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