Study on the effective visual navigation for an alife mobile robot

Autonomous navigation is one of the most important characteristics for a mobile robot. Because of slipping and some incorrigible drift errors for sensors, it is difficult for a mobile robot to realize self-location after a long distance navigation. In this paper, the perceptual landmarks were used to solve this problem, and the visual serving control was adopted for the robot to realize self-location. At the same time, in order to detect and extract the artificial landmarks robustly under different illuminating conditions, the color model of the landmarks was built in the HSV color space. These functions were all tested in real time under experiment conditions.