"Mobile Robotics: The study of the Mindstorms Lego NXT Robotics Kit and its Applications in Autonomous Robotics"
Richard Lawrence 2008
Abstract
Mobile robotics refers to the construction of a mobile mechanical device that has some level of human intelligence and is capable of roaming freely without interference. In such a device, both hardware and software components are integrated to give the device the ability to sense and manipulate its environment.
This project seeks to analyze the Mindstorms Lego NXT robotics kit and its applications in mobile robotics. The NXT robotics kit is a relatively inexpensive robot that supports numerous creations and inventions within the bounds of its programmability and sensing capabilities. Though there are limitations to its capabilities, the NXT does offer a great deal of sophistication to users in mobile computing problem solving and is more than adequate for this project. In this project each individual sensor is tested to demonstrate its appropriate function, range of values and suitability for combined sensor input to analyze and make decisions based on specific testing environments. An example of this would be a simple touch sensor, whose range of values are the real numbers 0 and 1. At rest the sensor relays a 0 and when pressed it returns a 1. This sensor could then be used as a bumper in the implementation of an obstacle avoidance robotic car. A simple algorithm could be designed to tell the car to reverse and make a 90 degree turn if the bumper is pushed, then move forward again. Careful consideration and assessment is given to the use and implementation of all algorithms in programming solutions.