Cooperative Guidance of Lego Mindstorms NXT Mobile Robots

Julien Marzat, Hélène Piet-Lahanier, Arthur Kahn

2014

Abstract

This paper presents experimental results of cooperative guidance laws embedded on Lego Mindstorms NXT mobile robots for two types of missions. The first one is navigation to a waypoint as a fleet with collision and obstacle avoidance, following a model predictive control (MPC) framework. The second one is source localization, i.e., finding the maximum of a potential field, for which a distributed estimation and control strategy is proposed. Experiments show the ability to perform the two missions on these basic mobile robots, in spite of their limited computational resources. In particular, the search for the optimal control sequence through a dedicated discretization of the command space makes it possible to implement real-time MPC.

References

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Paper Citation


in Harvard Style

Marzat J., Piet-Lahanier H. and Kahn A. (2014). Cooperative Guidance of Lego Mindstorms NXT Mobile Robots . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 605-610. DOI: 10.5220/0005119406050610


in Bibtex Style

@conference{icinco14,
author={Julien Marzat and Hélène Piet-Lahanier and Arthur Kahn},
title={Cooperative Guidance of Lego Mindstorms NXT Mobile Robots},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={605-610},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005119406050610},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Cooperative Guidance of Lego Mindstorms NXT Mobile Robots
SN - 978-989-758-040-6
AU - Marzat J.
AU - Piet-Lahanier H.
AU - Kahn A.
PY - 2014
SP - 605
EP - 610
DO - 10.5220/0005119406050610