Autonomous mobile systems Lego Mindstorms

Higher education teachers: Logar Vito
Credits: 4

Subject description


No special prerequisits

Content (Syllabus outline):

In the past few years, autonomous mobile systems, which exhibit a certain level of intelligence and independent decision making in known or unknown environments, have come to great importance. Autonomous mobile system is a system, which has a possibility of motion (driving, flying, walking etc.) and is at this task completely independent of the human intervention. The autonomy is provided by the software intelligence, which attempts to cover all possible scenarios in the real environment. The intelligence itself represents the most important part of the autonomous mobile system, since the system will possess a certain level of autonomous intelligence as provided by the embedded software. Course »Autonomous mobile system Lego Mindstorms«is based on the Lego Mindstorms EV3 sets in order to acquaint the students with the filed of mobile systems and possible approaches to control and algorithm design. The knowledge obtained in this manner can be used not only in the field of autonomous mobile systems development but also when designing, optimizing or controlling other intelligent systems since many approaches in this field are similar and can be used also in other research areas. Familiarization with the field of autonomous mobile systems is based on the following concept:

  • each student is instructed by the specific project work and task,
  • in order to perform the given taks, Lego Mindstorms EV3 sets are provided,
  • the student designs a mobile system with appropriate physical characteristics for accomplishing the task,
  • the student designs, develops and programs the control algorithms and the corresponding intelligence of the system,
  • after the system is built and programmed, extensive testing and eventual modifications of the system are needed,
  • finally, each student attends the student competition, which will provide a qualitative evaluation of the performed work.

Objectives and competences:

The course presents a field of autonomous mobile systems in a simple, friendly and amusing manner and does not need any specific knowledge about mobile systems. The content of the course, which is mainly practically oriented, allows the insight and acquisition of knowledge in the field of mobile sensors, kinematics, control algorithms, localization and decision making algorithms using the Lego Mindstorms sets. The knowledge obtained by this course is applicable to many other areas of mobile systems since the approaches of design and control of such systems are relatively independent on the used mobile platform. No special prerequisites are needed, as the students gradually acquire and upgrade all necessary knowledge needed for successful operation and intelligent decision making of such systems.

Intended learning outcomes:

Knowledge and understanding:

  • basics of mobile systems,
  • kinematics and odometry,
  • mobile sensors,
  • control algorithms for wheeled autonomous mobile systems,
  • localization in a known environment,
  • optimal trajectory planning,
  • intelligent decision making for goal accomplishment,
  • performance optimization of autonomous mobile systems.

Learning and teaching methods:

  • Individual project work by lecturer's instructions,
  • programming of the system in the supplied programming environment (no programming skills) or in RobotC environment (advanced programming skills)
  • testing of the systems on the course,
  • teamwork in groups of 2 – 3 students,
  • mandatory consultations,
  • final report,
  • participation in a student competition.

Study materials

  1. G. Klančar – Avtonomni mobilni sistemi, Založba FE, 2014

Study in which the course is carried out

  • 0 year - cycle - Extracurricular activities