Localization Control for LEGO Robot's Navigation

This paper describes the implementation of an localiztion control for LEGO MindStorms RCX architecture. Taking advantage of this control, we describe: why a differential architecture was selected to design a vehicle, and how a navigation algorithm was implemented to find a free collision path from initial to goal configurations. Besides, a graphical interface to simulate the behavior of the algorithm and to verify the robot position and direction is described. Interesting results where the vehicle as able to interpret the algorithm results to reach the goal configuration on physical environment are presented.