In this paper, we present a control architecture based on the concept of levels. The architecture is composed of two parts called the decision part and the perception part. This organization permits to construct various configurations and is adaptable to any application. We implemented this architecture on different robotic platforms: a mobile robot, an omnidirectional robot and medical one. We focused on the generic aspect of the architecture which has the characteristic to include the tele-operation modes.

This article addresses the omni directional mechanical architectures problematic for mobile robots using 3 motorized axles with 2 spherical orthogonal wheels. These wheels transmit a power torque according to a direction and are completely free with respect to the two others. They are used on 2 mechanical structures: SM1 and SM2. The complete kinematic study emphasizes the facility of controlling such omni-directional robots, and examines the problems involved in the transition of the wheel-to-floor contact on each axle. From this double study emerges an optimal theoretical architecture, but difficult to realize mechanically. We then present a controller which compensates for the errors related to the simplest mechanical structure; and it is validated on a mobile robot ROMNI using mechanical structure SM1

In this paper, we present a modular method of environment perception for a mobile robot by local mapping. This map building process is done in order to authorize the motions of a mobile robot in unknown indoor environment. To validate it, we have implemented a reactive navigation on a mobile robot which perceives its near environment with two range finders. The map building process is the cluster of several functions: sort of measures in subsets, model of these subsets, elaboration of a map, and updating it with previous measures. Furthermore this process must be quick and sufficiently robust to deliver in real time a safe map to the robot.