Un amer correspond a une balise composee d'une clonne et d'un solide d'une couleur orientation en degrés [0;359] , entier positif, sens horaire 0 Nord Un amer correspond à une balise composée d'une clonne et d'un solide d'une couleur This module buid the absolute bitmap map (glob_map) of the scene, using the local map (loc-map). the origine is the entry zone of the robot. The Local Map module Build a Relative Cartesian 2D bitmap Map (loc_map) The frame is centered on the robot (x <=> forward). it use proxi_map and all proprio and exteroceptive datas giving him the relative displacement. This map have a MEMORY : the obstacles are placed and 'follow' the motion of the robot, either they are not directly seen by the robot. It place also all the amer on it map. Modele Cinematique Direct (MCD) - Direct Kinematics Model (DKM) Transformation from articular space (left and right wheels speed) to operational space (cartesian velocity) we call it "Super"-DKM because we not only use odometry speed, but also IMU and GPS inputs, and we output also cartesian position Proximetric Map is a bitmap map, but in polar coordinate. the polar 2D frame is linked to the robot (so relative). Origine x forward the robot, angle with trigonometric way/notation (unclocwise) this Polar bitmap map is digitalized in Nrange cell from 0 to MaxRange, and in Nangle, from 0 to 2Pi. Only measures from sensors are directly print on this map : no memory ! This Module is able to find a amer in a image, and, using the CameraInfo of the cam, give a position of it, relatively from the robot. it delivers also the shape of the amer, and it color. this module deliver the path (waypoints) for the navigator. it use the global map to calculate these waypoints, taking into account the mission to do. Navigator deliver local trajectory for the pilot, taking into account local map. It must reach the various waypoints, considering the obstacles placed in the local map (loc_map) The pilot must calculate the set points in operating space, following the trajectory delivered by the navigator. But the pilot must react to obstacles 'seen' in the proximetric map (prox_map), avoiding them. Modele Cinématique Inverse (MCI) - Invert Kinematic Model (IKM) transform the velocities from the operational space to the articular space (left and right wheels velocities)