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Uploaded on Apr 11, 2010
This is the first step in making a low cost robot that can localize and navigate indoor. The applications are many, including a robotic smart wheelchair to improve mobility and independence of disabled people. The current prototype is built with LEGO MINDSTORMS NXT. The vehicle is a dual differential drive robot equipped with a custom made laser scanner, that measures bearings to reflective targets, whose position is known (map). These preliminary experiments show that even with a very cheap hardware with few lines of code, the robot can localize and navigate precisely. The project is still in progress to allow global localization, fault tolerance, obstacle avoidance and longer laser detection range.