In this paper, a real time tracking system by vision is presented. Thanks to it, the interaction between the human and the robot is simplified for example, in the case of the remote control of mobile robot. The operator selects the target to the proposed vision system, pointing out its border. Then, with the visual feedback, he can simply follow the behavior of the algorithm : correct target border, and sufficient value of the confidence index. In case of problems, the operator is warned by the system, and can react with appropriate action.

A remote-controlled mobile robot for nuclear intervention has been developed. The concept of this tracked vehicle relies on variable geometry and active stability principles. To allow the human operator to make full sue of CENTAURE original features, a control strategy is being studied, based on a bilateral master-slave approach which has provided outstanding achievements for manipulator control. An experimental test bed has been built which includes a force reflecting six-degree-of-freedom master arm, and preliminary results are promising for vehicle CAT (computer-aided teleoperation) control.>