Autonomous LEGO Mindstorms Robot – possible tasks for Bachelor- and Master-Theses
Keywords: Autonomous Robot, Image Processing, Navigation, Sensor Fusion, Control, networked systems
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The usage of autonomous mobile systems increases rapidly. Autonomous cars and industrial mobile transportation systems are a popular example. A further development is the increasing networking of the components. The LEGO Mindstorms Robot is a low cost robot with two big and one small engine.
Additionally, the robot can use for 4 sensors. Available sensors are an ultrasonic, an infrared, two touch and a gyro sensor. As support a camera system based on raspberry PI is used, which is mounted at the robot or above the test environment.
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Figure 1: Sheme of the enviornment
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The following table contains possible task fields regarding the Mindstorms/camera-environment.
Control-oriented Tasks: |
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Short description: |
Controller design |
BA/MA |
Design of event/time discrete controller like speed control |
Safety |
BA/MA |
Design of safety functions like collision avoidance |
Sensor fusion |
BA/MA |
Design of soft sensor by using multiple sources |
Strategy-oriented Tasks: |
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Short description: |
Navigation |
BA/MA |
Design of localization, mapping and path planning |
Cyber Security |
BA/MA |
Simulation, detection and prevention of cyber attacks |
Image processing-oriented Tasks: |
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Short description: |
Self-calibration |
MA |
Design an automatic calibration procedure |
Object detection |
BA/MA |
Detection of obstacles and robots |
Variation: |
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Short description: |
Mechanical design |
BA/MA |
Use different robot design like four-wheel drive |
Collaboration |
MA |
Use more than one system which solve the task together |