TY - GEN
T1 - Educational hands-on testbed using Lego robot for learning guidance, navigation, and control
AU - Kim, Seungkeun
AU - Oh, Hyondong
AU - Kolaman, Amir
AU - Tsourdos, Antonios
AU - White, Brian
AU - Guterman, Hugo
PY - 2011/1/1
Y1 - 2011/1/1
N2 - 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.
AB - 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.
KW - Colour marker detection
KW - Education
KW - Guidance
KW - Lego Mindstorms NXT
KW - Navigation and control
KW - Obstacle mapping
KW - Splinegon
UR - http://www.scopus.com/inward/record.url?scp=84866762261&partnerID=8YFLogxK
U2 - 10.3182/20110828-6-IT-1002.02754
DO - 10.3182/20110828-6-IT-1002.02754
M3 - Conference contribution
AN - SCOPUS:84866762261
SN - 9783902661937
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 5170
EP - 5175
BT - Proceedings of the 18th IFAC World Congress
PB - IFAC Secretariat
ER -