In recent time, a great deal of research has been centered on the navigation of an autonomous mobile robot in unknown environment. In this paper, a recognition algorithm in the navigation is described for the mobile robot equipped with structured light sensor. It consists of collision free path finder, global map maker, and recognition procedure. Collision free path finder determines the direction in which mobile robot move without collision in the unknowen terrain. Global map maker transfers three dimensional environment data to two dimensional map as the mobile robot moves in its environment. This resulting two dimensional map is used for next navigation. Recognition procedure is able to classify objects to simple type. Using structured light sensor for a mobile robot is more efficient than any other sensors because it extracts a great deal of the range data rapidly. The experimental facility consists of a He-Ne laser, a CCD camera, and a personal computer.
