Planificación de movimiento de un robot Lego basado en la aplicación del algoritmo Dist-Bug

In this article applies a motion’s planning technique based on the algorithm for constructing DistBug navigation through a LEGO Mindstorm NXT robot mobile 2.0. The purpose of this planning, is that the robot has to build a shipping route in real time and free of collisions, which take you from a starting point to an endpoint, while receiving the world’s information, which assumes as uncertain, except its initial position and end position. For this task, the robot uses sonar sensors and contact detection elements to identify the distribution of obstacles and the robot’s current position. Keywords— Motion’s planning, Algorithm DistBug, LEGO Mindstorm, Routes bulding.