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Navigating waypoints with a Lego MINDSTORMS NXT Robot

version (2.05 MB) by MathWorks Robotics Team
Organize a student competition using Lego MINDSTORMS NXT Robot with MATLAB and Simulink.


Updated 01 Sep 2016

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On Mar 15, 2013 MathWorks UK held a student competition that had teams come together and perform a set of 4 tasks leading to a final competition that had Lego MINDSTORMS NXT robot navigate a set of waypoints as quickly as possible.
This File Exchange Submission collects the set of 4 preliminary tasks along with sample models that anyone can explore and learn how the Simulink Support Package for Lego MINDSTORMS NXT Hardware works.

The tasks are:

Task 1: Spin your robot in place – both in simulation and on the robot itself. Compare results to see if they match.

Task 2: Explore and try a simulation of the robot on the floor with sample target waypoints, change controller parameters to see changes in behavior. Compare results.

Task 3: Run the same algorithm from previous task on the real robot, logging real time histories. Compare to previous simulation.

Task 4: Design and simulate your algorithm for an arbitrary set of waypoints, explore algorithms to find the shortest distance between points.

This example uses this Simulink Support Package for LEGO MINDSTORMS NXT Hardware:

Learn more about running Simulink models on target hardware here:

Cite As

MathWorks Robotics Team (2020). Navigating waypoints with a Lego MINDSTORMS NXT Robot (, MATLAB Central File Exchange. Retrieved .

Comments and Ratings (4)

Dan Lluch

@Kang - this submission requires you have installed the Simulink Support Package for LEGO MINDSTORMS NXT Hardware. you can find more info no that here:

your second question - you'll see LEGOModel used at the beginning of task 3 (refer to the task 3 PDF).

Good luck - Dan


another question,what's the function of LEGOModel.slx file?It seems that I don't use it when running the example?


First,I want to thangks for your sharing.But i have question about the example.I don't have a Lego MINDSTORMS NXT robot,I have downloaded the support file named “legomindstormsnxt.mlpkginstall ”,but I don't know how to use it.Can I you tell me?


Updated license

added MathWorks Copyright information

MATLAB Release Compatibility
Created with R2013a
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