Door Traversing for a Vision-Based Mobile Robot Using PCA

This paper presents a method that a vision-based mobile robot can find location of doors and can safely traverse the door in complex environments. A robot must be able to find the door in order that it achieves the behavior that is scheduled after traversing a door. In this paper, PCA (Principal Component Analysis) algorithm using a vision sensor is used for a mobile robot to find the location of door. In addition, a fuzzy controller using a sonar data is used for a robot to avoid obstacles and traverse the door.

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