Uso de matlab y simulink para el control de robots y la observación de sensores de tacto y luz

Abstract

The purpose of this project is to build a robot to detect black stripes and obstacles called ciclón, designed with the help of the Lego Mindstorms NXT’s tools and the interaction with Matlab software. The ciclón’s objective is to detect the presence of any object located at a specified distance and avoid collision with it by the use of the ultrasonic sensor. In the same way, its route is within an area limited by a dark stripe which is detected by the use of a light sensor, in that moment it changes its direction in order to return to its permitted route. The movement will be continuous until the touch sensor is activated, instantly will stop simulating a manual shutdown control. The robot maintains real time communication with the computer by bluetooth, in this way it knows if there are black spots or obstacles, because it sends every certain time two types of data that represents the grayscale measured by the light sensor and the data regarding to the presence of objects sent by the ultrasonic sensor.