Traversing a door for mobile robot using PCA in complex environment

This paper presents a method that a mobile robot finds location of doors in complex environments and safely traverses the door. A robot must be able to find the door in order that it achieves the behavior that is scheduled after traversing a door. PCA(Principal Component Analysis) algorithm using the vision sensor is used for a robot to find the location of door. Fuzzy controller using sonar data is used for a robot to avoid an obstacle and traverse the doors.