A Lego robot for experimental benchmarking of robust exploration algorithms

SERRI, ANTONINO
2004-01-01

Abstract

A very simple autonomous robot based on the Lego programmable brick (RCX) is proposed to test the performances of robust exploration algorithms. The robot must explore an unknown area with arbitrary boundary detected by a unique light-sensor and has to find a little target by travelling within the search area. The control algorithm must keep the robot within the area and adjust the trajectory after each collision to the boundary. The mechatronic design may be optimized but attention is focused on the robusteness of the control strategy. Experimental benchmarking is presented for fixed and random turning. Programming details are discussed to further test other different algorithms.
2004
Inglese
Proceeding of The 2004 47th Midwest Symposium on Circuits and Systems (MWSCAS 2004) -
0-7803-8346-X
3
163
166
4
2-s2.0-11144257859
The 47th IEEE International Midwest Symposium on Circuits and Systems
contributo
Esperti anonimi
27-28 July 2004
Hiroshima
internazionale
mechatronic; robust control; autonomous robot
ISSN: 15483746
4 Contributo in Atti di Convegno (Proceeding)::4.1 Contributo in Atti di convegno
Serri, Antonino
273
1
4.1 Contributo in Atti di convegno
none
info:eu-repo/semantics/conferenceObject
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