Visual - Guided Planning and Control for aNon

This technical report summarizes the work I have achieved in the \Vision and Control" Strategic Research Program, directed by Dr. Xie Ming, from February to September 1998. It is articulated in two parts, the rst one describing my team work and the second presenting my research work. In the rst part, I explain how I worked to improve the collaboration between NTU and the French institute Inria, and to install some tools bringing the power of Unix (or Linux) to the PC of the \Vision and Control" Strategic Research Program. On another hand, the research part of this report proposes an algorithm to integrate, on a Nomad 200 TM robot, vision sensing with a control and planning system adapted to the robot. If practical results have not been as successful as anticipated, theoretical results and implementations should allow to achieve the aimed objectives soon.