Real-time visual behaviours for navigating a mobile robot

In this paper we present an approach for using vision as the primary source of sensing to guide a mobile robot in an unknown environment. We define a set of primitive visual behaviours for navigating a mobile robot in real-time. By combining such behaviours with a purposive map, our mobile robot exhibits a goal seeking behaviour. We present a fast segmentation technique for vision processing. This processing technique is used by different behaviours to produce an overall competent behaviour in our Yamabico robot. Experimental results show that our robot can navigate competently in dynamic indoor environments.