The building instructions for the Vehicle Robot Model (also called the tribot) can be found in the Lego Mindstorms NXT software. The building instructions can also be found on the web from various third party groups. Active-robots.com has building instructions for the Vehicle Robot Model (tribot), as well as other models, located here.
For the autonomous exploration project the ultrasonic sensor must be attached to the model. The example assumes that the ultrasonic sensor is connected to port 4 and the touch sensor is connected to port 1 of the NXT control brick.
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For the autonomous exploration project the bumper can be modified as seen here to better detect when the robot has hit an obstical. | |