LEGO Mindstorms EV3 Formula 1 Race Car

The LEGO EV3 Race Car is a self-driving autonomous LEGO EV3 Robot powered by the ODEsin α algorithm that is able to sensing (perceiving its environment) and acting (moving). If follows a path defined as a set of points throughout the course (= virtual line follower / see movie at 0:24) as soon as the color sensor reads ‘green’. It uses odometry / dead reckoning with input from the motor sensor to derive the distance and the gyro sensor for the angle (see movie at 0:38). The current position is compared to the next target positon (= next point) and the delta angle is computed. This angle is used in a PID controller to derive the command for the steering motor. The ultrasonic sensor detects obstacles to avoid collisions (see movie at 0:30). The LEGO EV3 Race Car is programmed with the official LEGO EV3 Software and completely build with LEGO parts, apart from the cables from Mindsensors. This video shows the original ODEsin α (https://youtu.be/tFDOhl7Kh00) and its tutorial explains the ODEsin α algorithm (https://youtu.be/i02HcqFCFPs).