Vision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing

This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is achieved by a model-based vision system, and nonstop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We report on experiments in a hallway using the YAMABICO robot.