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

Seungkeun Kim, Hyondong Oh, Amir Kolaman, Antonios Tsourdos, Brian White, Hugo Guterman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

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.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Pages5170-5175
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
DOIs
StatePublished - 1 Jan 2011

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume44
ISSN (Print)1474-6670

Keywords

  • Colour marker detection
  • Education
  • Guidance
  • Lego Mindstorms NXT
  • Navigation and control
  • Obstacle mapping
  • Splinegon

ASJC Scopus subject areas

  • Control and Systems Engineering

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