File(s) under permanent embargo
Reason: This item is currently closed access.
Using hands-on project with Lego Mindstorms in a graduate course
journal contribution
posted on 2015-06-12, 15:06 authored by Seungkeun Kim, Hd Oh, Jiyoung Choi, Antonios TsourdosThe aim of this paper is to propose an educational hands-on project using inexpensive subsystems for learning guidance and control. A Lego Mindstorms NXT, a low-cost web camera, and tractable tools are used for searching for and mapping of an obstacle in an indoor environment. In order to provide the Lego robot with navigation information indoors, visual tracking is implemented by using color marker detection and an extended Kalman filter. Furthermore, spiral-like search, command-to-line-of-sight guidance, and motor control are applied to sensing and mapping of an unknown obstacle. The experimental results from a short-term group project verify that the proposed hands-on work is an efficient educational tool for learning vision processing and estimation as well as guidance and control with a low-level burden of time and cost.
Funding
This work was supported by research fund of Chungnam National University.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering