This paper introduces several mobile robots developed by using LEGO MIDSTORM for experimental studies of robotics engineering education. The first mobile robot is the line tracer robot that tracks a line, which is a prototype of wheel-driven mobile robots. Ultra violet sensors are used to detect and follow the line. The second robot system is a two-wheel balancing robot that is somewhat nonlinear and complex. For the robot to balance, a gyro sensor is used to detect a balancing angle and PD control is used. The last robot system is a combined system of a line tracer and a two-wheel balancing robot. Sensor filtering and control algorithms are tested through experimental studies.

• 박준형(충남대학교 메카트로닉스공학과 석사) | June Hyung Park
• 정슬(충남대학교 메카트로닉스공학과 교수) | Seul Jung 교신저자