VISION- BASED NAVIGATION ALGORITHM FOR AN INDOOR MOBILE ROBOT
Ashraf M. Hafez, M. Lotfy Rabeh · 2005
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.