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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/17859

Title: Educational hands-on testbed using Lego robot for learning guidance, navigation, and control
Authors: Kim, Seungkeun
Oh, Hyondong
Kolaman, Amir
Tsourdos, Antonios
White, Brian A.
Guterman, Hugo
Keywords: Education
Navigation and control
Obstacle mapping
Colour marker detection
Lego Mindstorms NXT
Issue Date: 2011
Publisher: Elsevier / © IFAC
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
Abstract: 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.
Description: 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
Version: Accepted for publication
DOI: 10.3182/20110828-6-IT-1002.02754
URI: https://dspace.lboro.ac.uk/2134/17859
Publisher Link: http://dx.doi.org/10.3182/20110828-6-IT-1002.02754
ISBN: 9783902661937
ISSN: 1474-6670
Appears in Collections:Conference Papers and Presentations (Aeronautical and Automotive Engineering)

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