A novel machine vision-based mobile robot navigation system in an unknown environment

Ming Shaung Chang, Jung-Hua Chou

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


A novel and efficient auto-navigation system based on machine vision for an unknown environment is developed in this study. A 3D model using only the measurements of a single image is implemented for 3D object measuring and map-building. For path-planning, the A* algorithm is combined with the Floyd's shortest path to determine the optimal sub-goals in the image sensing range. The performance of the present method is compared to those of the Bug algorithm, virtual force field (VFF) path planning, genetic algorithm (GA) path planning and fuzzy logic control (FLC) path planning and shows overall better results in a cluttered environment. Further, the 3D map-building of the environment map is successfully accomplished.

Original languageEnglish
Pages (from-to)344-351
Number of pages8
JournalInternational Journal of Robotics and Automation
Issue number4
Publication statusPublished - 2010 Dec 1

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Modelling and Simulation
  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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