Robot Navigation Using Visual Information - Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the

This paper addresses the problem of performing navigation with a mobile robot using active vision exploring the image sphere properties in a stereo divergent configuration. The navigational process is supported by the control of the robot's steering and forward movements just using visual information as feedback. The steering control solution is based on the difference between signals of visual motion flow computed in images on different positions of a virtual image sphere. The majority of solutions based on motion flow and proposed until now, where usually very unstable because they normally compute other parameters from the motion flow. In our case the control is based directly on the difference between motion flow signals on different images. Those multiple images are obtained by small mirrors, that simulates cameras positioned in different positions on the image sphere. At this moment it is under development another new version for the spherical sensor. The control algorithm described in this work is based on discrete-event approach to generate a controlling feedback signal for navigation of an autonomous robot with an active vision system as described on [3] and [Z].