In this paper, we present an approach to autonomous robot navigation in an
unknown environment. We design and integrate algorithms to reconstruct the
scene, locate obstacles and do short-term field-based path planning. The sc
ene reconstruction is done using a region matching flow algorithm to recove
r image deformation and structure from motion to recover depth. Obstacles a
re located by comparing the surface normal of the known floor with the surf
ace normal of the scene. Our path planning method is based on electric-like
fields and uses current densities that can guarantee fields without local
minima and maxima which can provide solutions without the need of heuristic
s that plague the more traditional potential fields approaches. We implemen
ted a modular distributed software platform (FBN) to test this approach and
we ran several experiments to verify the performance with very encouraging
results.