Moya-Albor, ErnestoErnestoMoya-AlborBrieva, JorgeJorgeBrievaPonce, HiramHiramPonce2023-07-302023-07-30201597833192622849783319262307https://scripta.up.edu.mx/handle/20.500.12552/444710.1007/978-3-319-26230-7_9This chapter presents a new algorithm inspired in the human visual system to compute optical flow in real-time based on the Hermite Transform. This algorithm is applied in a vision-based control system for a mobile robot. Its performance is compared for different texture scenarios with the classical Horn and Schunck algorithm. The design of the nature-inspired controller is based on the agent-environment model and agent’s architecture. Moreover, a case study of a robotic system with the proposed real-time Hermite optical flow method was implemented for braking and steering when mobile obstacles are close to the robot. Experimental results showed the controller to be fast enough for real-time applications, be robust to different background textures and colors, and its performance does not depend on inner parameters of the robotic system. © Springer International Publishing Switzerland 2016.enDifferential methodsHermite transformsMovement detectionNavigation systemsOptical flowsResource Types::text::book::book part