LegoRacer project, Embedded Control Systems VT10 Jim Björk, Tomas Nilsson, Pontus Björk, Viktor Melker Author Affiliation(s): Uppsala Universitet E-mail: (Project Leader)
[email protected] Abstract A line following robot is designed and the performance is evaluated when using three types of control algorithms. One can see that more time invested in design and control gives a better performance, but only to a limit. The PID controller outruns the simplest implementation however when implementing a more advanced LQG controller the performance actually deteriorates in our case. Conclusions and suggestions for future work is included in the last section with a concept for designing future versions of the line following robot. Index Abstract.................................................................................................................................................1 Project description................................................................................................................................3 LEGO® MINDSTORMS® NXT...............................................................................................3 Linesensor array..........................................................................................................................3 Development tools...........................................................................................................................3 RobotC........................................................................................................................................4