Abstract - This paper presents two mobile robots that have the ability to avoid obstacles when going from a start point to an end point. The robots were built using the NXT Mindstorms kit: one uses an ultrasonic standard sensor (US) and the other a custom vision subsystem MindSensors NXT camera. The software was written in two languages: NXC (NXC/NBC1.7 firmware) and Java (Lejos0.7 firmware). The main algorithm, implemented both with ultrasonic sensor and camera, computes the optimal trajectory for avoiding the obstacle. Experiments were performed to evaluate the robots performance.
Test during development:
Test during development:
A. Travel path
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B. Time/distance traveled
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B. Time/distance traveled
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