Abstract
This paper describes a visual navigation method using environmental information for amobile robot. In this method, we guard the robot through an optional path. On the path, aseries of local environmental maps are generated at suitable points by using environmental landmarks extracted from the surroundings. Once the local environmental maps are generated, the robot can move to follow the path automatically. In order to raise the reliability, the robot's position is estimated by voting. Experimental results using a real robot justify the proposed method.
