Systeme embarque et cooperatif de localisation et de perception pour un robot mobile

To make a robot autonomous while executing a task, it is necessary to allow it to perceive its environment, to recognize certain objects and to localize itself. This work presents a perception system which allows a robot to localize itself from landmarks placed in a known and controlled environment, to estimate position and motion of an object and to share data with other robots in the same environment so that each one can take advantage of other's perception. The sensors used are optical encoders to measure robot's odometry and an omnidirectional camera to return measurements of relative position of objects around the robot. A vision system has also been developed to carry out real-time objects recognition. An omnidirectional camera has been used because it allows to take in one shot an panoramic picture of all environment around the robot.; The real-time object recognition should be fast and robust. Searched objects have by assumption simple shapes (cylindrical, spherical or rectangular), known size and uniform, contrasting and defined colours.; The localization system developed estimates robot's position by combining asynchronous odometry and vision measurements. The perception system of dynamic objects has been developed to estimate position of a moving object for which initial position is unknown. (Abstract shortened by UMI.)...