According to environment information, navigation and motion control are key techniques in intelligent mobile robot system. Vision information is the most important way to perceive environment, the vision-based intelligent control techniques concerning on Pioneer II mobile robot system are presented. The object search, image segmentation based on HSV (Hue-Saturation-Value) color mode, clustering algorithm and location based on CCD vision sensor are discussed in detail. Also, the software framework and functions of mobile robot control system based on vision are described, including server program structure and client procedure flow. The effective experimental results in which a mobile robot can autonomously convey object to target point based on CCD vision sensor are given.
