Planned navigation of a Lego NXT robot

The following paper presents how several navigation algorithms, methodologies and the tests´ results, using three global (Voronoi diagrams, occupation maps, visibility graphs) and three local (neural network, fuzzy logic, potential fields) techniques, for a Lego NXT mobile robot to arrive to a settled goal were developed. Analyzing the techniques´ pros and cons concerning to events the robot may face, and how the structures´ own features stablish parameters for the robot reaching its goal are detailed. Next, every technique´s algorithm and the field conditions such as obstacle evasion and next space available are described. Elements such as used amount of time, movement efficacy and the robot´s reaction speed were chosen as the results´ main criteria, due to the performance and efficiency rates of each technique. After evaluation, the advantages each technique has compared to the others will be shown in a table. Finally, the obtained solutions are put to test in hypothetical events in order to demonstrate how every technique can be applied; concluding that determining which technique to use depends mainly on the test conditions and the amount of environment data available.