A purposive strategy for visual-based navigation of a mobile robot

Abstract

We address the problem of visual-based navigation of a mobile robot along corridors in indoor environments. The corridor lines are detected, and their vanishing point is calculated. Its deviation from the central column of the image, the corridor line slopes and the standard deviation of the vanishing point are used to control the angular velocity in order to keep the robot in the middle of the corridor. Such strategy exploits the structure of the environment to solve a specific navigation problem in a very robust manner.