This paper presents a sensor based algorithm for guiding a nonholonomic platform, such as a wheelchair, through a doorway. The controller uses information from a camera system and a laser range finder to perform image-based navigation. Simulations of the resultant switching controller are presented along with experimental results. A simple obstacle avoidance algorithm is also implemented on the experimental platform. Finally, we have considered the input of limited field-of-view constraints on this controller. All of these components together lead to a modal, image-based approach that will safely and robustly navigate a nonholonomic robot with sensor constraints through a doorway
