Résumé:
Our work deals with finding solutions to several problems of interaction
between machines and humans. Part of it deals with the problem of
designing and building a robot interface on Android. It will be a question of
studying the possibility of using tools such as Android to implement an
application allowing communication with the robot's software environment,
deployed under the ROS (Robot Operating System). This work also addresses
the problems of localization and mapping of a wheelchair robot in a
previously unknown environment. The robot is equipped with a Hokuyo4
UST-10LX laser sensor, the laser data is used to accomplish the positioning
and mapping tasks. In such a situation, the two problems can not be
dissociated, therefore, we propose to adopt a Simultaneous Localization And
Mapping (SLAM) approach. Hector_Slam is suggested to solve this problem.
Also, part was allocated to deal with the problem of safe robotic wheelchair
navigation with a limited field of view in an unknown previously
environment. Input state-space (ISS) has been suggested to solve this
problem.