Trajectory navigation for mobile robot

This paper treats the navigation problem of a mobile robot based on vision information and ultrasonic data. In our method, by calculating the optical flow on the images, the mobile robot can detect obstacles which exist ahead of it, further avoiding the area of obstacles, it can make the optimal trajectory to the final goal. Then, in order to generate the optimal trajectory, the distance between a mobile robot and obstacle is needed and then is obtained by evaluating a function with ultrasonic information. Through some experiments, we show how our proposed method is effective.