Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT

• Type: Article in International Scientific Journal
• Date: 2012

Authors

Miguel Pinto (Author) FEUP; António Paulo Moreira (Author) FEUP; Aníbal Castilho Coimbra de Matos (Author) FEUP

Journal

Title: IEEE Transactions on Education

Vol. 55 No. 1

Pages: 135-144

ISSN: 0018-9359

Publisher: IEEE

Indexing

ISI Web of Knowledge - 24 Citations

ISI Web of Science

Scopus - 36 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-002-DGQ

DOI: 10.1109/te.2011.2155066

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10