الفهرس 
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Abstract
The aim of this work is to develop an efficient, robust, map less navigation algorithm based on computer-vision principles. This navigation algorithm enables the robot avoiding obstacles exists in an indoor environment such as an office building e.g chairs, desks, file cabinets, persons, etc, and determining which direction the robot should take.
All the developed optimizations and the final algorithm are programmed using MATLAB 6 image processing toolbox.
Chapter contents; chapter one introduction starts with an introduction that demonstrates the applications of mobile robots. It also includes a survey of approaches used for vision based navigation.
Chapter two computer-vision tools and techniques includes the basic image processing tools used in the development of the navigation algorithm.
Chapter three the navigation algorithm development it is the bulk of this thesis, which contains the navigation algorithm development.
Chapter four it discusses the experimental results obtained by applying the navigation algorithm on different test images.
Chapter five conclusion presents the conclusion and suggestions for future work.
Finally, the developed program files and the references have been given in appendices.