In this thesis, the navigation problem for a mobile robot is investigated. Specifically, it is proposed that simple guide-marks be introduced and the navigation scheme be generated in conjunction with the guide-marks sensed through camera vision.
For autonomous navigation, it was shown that a triple guide-mark system is more effective than a single guide-mark in estimating the position of the vehicle itself. The navigation system is tested via a mobile robot 'Hero' equipped with a single camera vision.
