Cooperative guidance of LEGO Mindstorms NXT mobile robots

Julien Marzat (1) , Hélène Piet-Lahanier (1) , Arthur Kahn (1)

1 ONERA - The French Aerospace Lab [Palaiseau]

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.

Mots clés: Autonomous Robots; Cooperative Control; Model Predictive Control; Source Localization

Domaines: Automatique / Robotique

Julien Marzat, Hélène Piet-Lahanier, Arthur Kahn. Cooperative guidance of LEGO Mindstorms NXT mobile robots. 11th International Conference on Informatics in Control, Automation and Robotics, Sep 2014, Vienne, Austria. pp.605-610. ⟨hal-01064027⟩