A Scenario for Planning Visual Navigation of a Mobile Robot

IntroductionWe can classify visual navigation of a mobile robotinto two different scenarios. One scenario is given bythe world that is out of the scope of our sensingcapabilities. We call this world the dark world. Ingeneral the robot's goal will be in the dark world. Inorder to do better than a simple random walk, the robotneeds some kind of internal representation that allowsit to calculate a long-term plan.On other hand, we have our local position, where wecan perceive the world...