Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT
Autor(a) principal: | |
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Data de Publicação: | 2012 |
Outros Autores: | , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://repositorio.inesctec.pt/handle/123456789/2405 |
Resumo: | The inspiration for this paper comes from a successful experiment conducted with students in the 'Mobile Robots' course in the fifth year of the integrated Master's program in the Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto (FEUP), Porto, Portugal. One of the topics in this Mobile Robots course is 'Localization of Mobile Robots using the Extended Kalman Filter in a LEGO NXT,' which gives the students the opportunity to study the concepts of localization. This experiment comes within the framework of teaching localization concepts in mobile robotics and focuses primarily on explaining the Kalman filter concept. It involves a specific tool developed by the authors and based on LEGO NXT technology. The work presented here could be a helpful guide for teaching concepts related to localization in mobile robotics to ensure adequate understanding of the concept and of the use of the extended Kalman filter (EKF). The LegoFeup robot described here was built using a LEGO Mindstorms NXT and tested both in simulation and in real scenarios. Based on the results obtained, the authors concluded that the developed tool is effective in motivating students. The implementation of the tool, the structure of the Mobile Robots course, and the criteria for student assessment are described in this paper. |
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Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXTThe inspiration for this paper comes from a successful experiment conducted with students in the 'Mobile Robots' course in the fifth year of the integrated Master's program in the Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto (FEUP), Porto, Portugal. One of the topics in this Mobile Robots course is 'Localization of Mobile Robots using the Extended Kalman Filter in a LEGO NXT,' which gives the students the opportunity to study the concepts of localization. This experiment comes within the framework of teaching localization concepts in mobile robotics and focuses primarily on explaining the Kalman filter concept. It involves a specific tool developed by the authors and based on LEGO NXT technology. The work presented here could be a helpful guide for teaching concepts related to localization in mobile robotics to ensure adequate understanding of the concept and of the use of the extended Kalman filter (EKF). The LegoFeup robot described here was built using a LEGO Mindstorms NXT and tested both in simulation and in real scenarios. Based on the results obtained, the authors concluded that the developed tool is effective in motivating students. The implementation of the tool, the structure of the Mobile Robots course, and the criteria for student assessment are described in this paper.2017-11-16T13:37:31Z2012-01-01T00:00:00Z2012info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://repositorio.inesctec.pt/handle/123456789/2405engAntónio Paulo MoreiraMiguel Armando PintoAníbal Matosinfo:eu-repo/semantics/embargoedAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-05-15T10:19:48Zoai:repositorio.inesctec.pt:123456789/2405Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:52:14.297670Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT |
title |
Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT |
spellingShingle |
Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT António Paulo Moreira |
title_short |
Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT |
title_full |
Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT |
title_fullStr |
Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT |
title_full_unstemmed |
Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT |
title_sort |
Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT |
author |
António Paulo Moreira |
author_facet |
António Paulo Moreira Miguel Armando Pinto Aníbal Matos |
author_role |
author |
author2 |
Miguel Armando Pinto Aníbal Matos |
author2_role |
author author |
dc.contributor.author.fl_str_mv |
António Paulo Moreira Miguel Armando Pinto Aníbal Matos |
description |
The inspiration for this paper comes from a successful experiment conducted with students in the 'Mobile Robots' course in the fifth year of the integrated Master's program in the Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto (FEUP), Porto, Portugal. One of the topics in this Mobile Robots course is 'Localization of Mobile Robots using the Extended Kalman Filter in a LEGO NXT,' which gives the students the opportunity to study the concepts of localization. This experiment comes within the framework of teaching localization concepts in mobile robotics and focuses primarily on explaining the Kalman filter concept. It involves a specific tool developed by the authors and based on LEGO NXT technology. The work presented here could be a helpful guide for teaching concepts related to localization in mobile robotics to ensure adequate understanding of the concept and of the use of the extended Kalman filter (EKF). The LegoFeup robot described here was built using a LEGO Mindstorms NXT and tested both in simulation and in real scenarios. Based on the results obtained, the authors concluded that the developed tool is effective in motivating students. The implementation of the tool, the structure of the Mobile Robots course, and the criteria for student assessment are described in this paper. |
publishDate |
2012 |
dc.date.none.fl_str_mv |
2012-01-01T00:00:00Z 2012 2017-11-16T13:37:31Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://repositorio.inesctec.pt/handle/123456789/2405 |
url |
http://repositorio.inesctec.pt/handle/123456789/2405 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
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info:eu-repo/semantics/embargoedAccess |
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embargoedAccess |
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application/pdf |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
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RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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