Guidance using path following iswidely applied in the field of autonomousmobile robots. Comparedwiththe navigation system without vision

visual navigation has obvious advantages as rich information

low cost

quietness

innocuity

etc. This paper describes a navigation system which uses the visual information provided by guide lines and color signs. In our approach

the visual navigation is composed of three main modules: image-preprocessing

path-recognition and path-tracking. First

image-pre-processing module formulates color models of all kinds of objects

and establishes each object’s support through adaptive subsampling-based binarization and mathematical morphology. Second

path-recognition module detects the guide lines through an improved Hough transform algorithm

and the detected results including guide lines and color signs integrate the path information. Finally

calling different functions according to the movement of straight-going orturning

path-trackingmodule provides required input parameters tomotor controller and steering controller. The experimental results demonstrate the effectiveness and the robustness of our approach.