Lego nxt tribot playing tic tac toe
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Lego NXT Tribot playing Tic-Tac-Toe. Intelligent Robots Course Team: Lego NXT Tribot Monica DOGARU Lucian DUNCA Angelo LUPUT. Lego NXT. Is an intelligent lego controlled by a computer. Has 3 ports for the engines. Has 4 ports for the sensors. Buttons for the menu and screen.

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Lego NXT Tribot playing Tic-Tac-Toe

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Lego nxt tribot playing tic tac toe

Lego NXT Tribot playing Tic-Tac-Toe

  • Intelligent Robots Course

  • Team:

    • Lego NXT Tribot

    • Monica DOGARU

    • Lucian DUNCA

    • Angelo LUPUT


Lego nxt

Lego NXT

  • Is an intelligent lego controlled by a computer.

  • Has 3 ports for the engines.

  • Has 4 ports for the sensors.

  • Buttons for the menu and screen.

  • Bluetooth communication.


Tribot shape

TRIBOT Shape

  • Is a flexible and fast shape on 3 wheels.

  • Can use all 4 sensors in order to fulfill its goals.

  • 2 engines are used for changing position and the third one is used for arms movement.


Minimax strategy

MiniMax Strategy

  • Is a method in decision theory used for minimizing the maximum possible loss.

  • This strategy can be applied in the Tic-Tac-Toe game, where at each step the first player will try to maximize his chances of winning, whereas the second player will attempt to minimize the first player's chances of winning.


Tic tac toe game

Tic-Tac-Toe game

  • Playing board: 3 rows and 3 columns

  • A white line and a blacj line, which help the robot in his movement across the board

  • The robot always remains on the surface between the two lines


Tic tac toe game1

Tic-Tac-Toe game

  • The area between the two lines, bounded by two strips placed on the border between two neighbour squares.

  • The light sensor does not precisely distinguish the colors, that is why we have again chosen to use white and black.

  • The robot knows that these lines have the purpose of informing about the change of square because of the presence of white. next to black.


Tic tac toe game2

Tic-Tac-Toe game

  • Each of the ends of the road contains a turning-around point.

  • The curves that appear in the robot's way were boldened, to ensure its stay on the good direction.


Tic tac toe game3

Tic-Tac-Toe game

  • At the beginning of the game, the robot is placed at one of the track's ends, waiting for its human opponent's move.


On board filming

On board filming

  • We attached a webcam on the part that that triggers the touch sensor, in order to follow the robot's movement across the track and its contact with the object placed on the road.


On board filming1

On board filming

  • The object = the snowman


On board filming2

On board filming

  • The track


Conclusions

CONCLUSIONS

  • Visual Programming Language, MSRS:

    • Is not very precise

    • The code cannot be seen

  • MindSqualls library for C#

    • More useful than VPL

  • NXT# library for C#

    • The best among the ones we have used

    • We did not manage to use the ultrasonic sensor

  • Lego NXT

    • The sensors are not precise

    • The results depend on the battery's power

    • It is not very stable because of the lego parts


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