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Educational hands-on testbed using Lego robot for learning guidance, navigation, and control

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conference contribution
posted on 15.06.2015, 11:23 by Seungkeun Kim, Hd Oh, Amir Kolaman, Antonios Tsourdos, Brian A. White, Hugo Guterman
The aim of this paper is to propose an educational hands-on testbed using inexpensive systems composed of a Lego Mindstorms NXT robot and a webcam and easy-to-deal-with tools especially for learning and testing guidance, navigation, and control as well as search and obstacle mapping, however the extendibility and applicability of the proposed approach is not limited to only the educational purpose. In order to provide navigation information of the Lego robot in an indoor environment, an vision navigation system is proposed based on a colour marker detection robust to brightness change and an Extended Kalman filter. Furthermore, a spiral-like search, a command-to-line-of-sight guidance, a motor control, and two-dimensional Splinegon approximation are applied to sensing and mapping of a complex-shaped obstacle. The experimental result shows that the proposed testbed can be viewed as an efficient tool for the education of image processing and estimation as well as guidance, navigation, and control with a minimum burden of time and cost. © 2011 IFAC.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volume

18

Issue

PART 1

Pages

5170 - 5175

Citation

KIM, S. ... et al, 2011. Educational hands-on testbed using Lego robot for learning guidance, navigation, and control. Proceedings of the 18th IFAC World Congress 2014, Milano, Italy. IFAC Papers Online, 18 (1), pp. 5170 - 5175

Publisher

Elsevier / © IFAC

Version

AM (Accepted Manuscript)

Publisher statement

This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/

Publication date

2011

Notes

This is a conference paper, it was published in IFAC Papers Online and the definitive version is available at: http://dx.doi.org/10.3182/20110828-6-IT-1002.02754

ISBN

9783902661937

ISSN

1474-6670

Language

en