An Algorithm for Vision-Based Navigation of an Indoor Mobile Robot

摘要

In this paper an efficient, robust, mapless navigation algorithm is developed. This navigation algorithm enables the robot to avoid collision with obstacles existing in an indoor environment (e.g. chairs, desks, file cabinets, persons, etc.) and determining which direction (Right, Left, Forward, or Stop) the robot should take. The algorithm has been developed and verified using MATLAB image processing toolbox.