Abstract: Methods, systems, and devices are provided for navigating a robot along a route. Navigation is accomplished using an image sensor mounted on the robot, which captures an image of a target. The target comprises a plurality of data zones and a plurality of data indicators organized with no more than one data indicator located within one data zone. The target has a target code based on which of the data zones contains the plurality of data indicators. A target distance between the robot and the target is determined, and, if the target distance is below a distance threshold, then an instruction, based on the target code is used to command the robot.