Environment modeling and planning for a mobile robot dedicated to construction tasks

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.<>