Building a mobile robot from scratch with Lego bricks.

The kinematics of the robot allow it to be omni-directional, using only two IR sensorsand one sonar, a collision avoidance algorithm allows the robot move around safely,with a localisation module and an on-line path planning algorithm, the robot cannavigate in any maze-like environment successfully.The vision module of the robotis OpenCV based with the ability to identify objects, places and grab certain items