Robust Motion Controller for Mobile Robot Navigation in Indoor Environment

The problem of controlling the pose of a mobile robot with respect to a target position by means of visual feedback is investigated. The proposed method enables a mobile robot to identify its own position using visual features of environment. At the same time, the robot performs an orientation recognition using the same recognition method of position identification in order to follow a path in environment. One of the advantages of the proposed method is that both position and orientation recognition uses the same task where this situation will help for lowering the cost of the robot system development. Furthermore, the calculation method is simple, no precise and accurate measurement is used in the proposed navigation method. Experimental results demonstrate the effectiveness of our proposed method.