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--- marvin:lab11 [2008/11/28 12:01] – rieper
+++ marvin:lab11 [2008/11/28 12:04] – rieper
@@ Line 26: / Line 26: @@
   * Figure out how to make realtime communication with the NXT through bluetooth.((http://lejos.sourceforge.net/nxt/pc/api/index.html))((http://lejos.sourceforge.net/nxt/nxj/api/index.html))
   * Figure out how to use the gyro((http://www.hitechnic.com/contents/en-us/d24.html)) (there might not be direct support through LejOS)
-  * Implement PID control((http://en.wikipedia.org/wiki/PID_controller)), and tune the parameters using the model in NXT-way GS model((http://lejos.sourceforge.net/nxt/pc/api/index.html)).
+  * Implement PID control((http://en.wikipedia.org/wiki/PID_controller)), and tune the parameters using the model of an inverted pendulum in NXT-way GS model((http://lejos.sourceforge.net/nxt/pc/api/index.html)).
   * Implement behaviour based driving to make the robot drive around and avoid obstacles.(([[http://www.ai.mit.edu/people/brooks/|Rodney Brooks]], A robust layered control system for a mobile robot, IEEE Journal of Robotics and Automation, RA-2(1):14-23, 1986, also [[http://people.csail.mit.edu/brooks/papers/AIM-864.pdf|MIT AI Memo 864]], September 1985.))
   * Implement behaviour that takes control of the robot when commands are sent from the game controller.