In an older thread a mentioned my work with the NXTLineLeader using leJOS 0.9 http://lejos.sourceforge.net/forum/viewtopic.php?f=6&t=2823
I was thinking what else you can do with the NXTLineLeader (and more than just line-following).
So I created a system to make navigation in any room possible. Im using puzzle pieces to create a grid in any area you want (actually u can find these puzzle pieces in rooms of kids
You can create huge areas in a room (you just need enough puzzle pieces).
So far, I also coded a "Grid Modeling System" in Java to model the puzzle on the computer. You can draw there a grid like the real grid and adjust it. Set a start point and some end points and the best path will calculate through the implemented A*-Algorithm. You can also use your keyboard to navigate the LineLeader.
I guess hard to understand exactly, so just watch my video on YouTube about this....http://www.youtube.com/watch?v=Q9NGubsZKEE&feature=channel_video_title
Im looking forward to get some feedback.