IFAC_Lego_Robot_Final.pdf (1.65 MB)
Educational hands-on testbed using Lego robot for learning guidance, navigation, and control
conference contribution
posted on 2015-06-15, 11:23 authored by Seungkeun Kim, Hd Oh, Amir Kolaman, Antonios Tsourdos, Brian A. White, Hugo GutermanThe 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
18Issue
PART 1Pages
5170 - 5175Citation
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 - 5175Publisher
Elsevier / © IFACVersion
- 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
2011Notes
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-1002.02754ISBN
9783902661937ISSN
1474-6670Publisher version
Language
- en