Map generation and localization for a LEGO NXT robot

Abstract

This article presents the construction of a 2-dimensional map for a mobile robot built with a Lego Mindstorms system version NXT, and its location in the map. For the mapping process, the ultrasonic sensor of the robot and a camera with a full space view were used. The Montecarlo algorithm was used for localization. The application is controlled from a graphic interface developed using Java programming language.