Abstract:
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 progr...Show MoreMetadata
Abstract:
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.
Published in: IEEE Transactions on Education ( Volume: 55, Issue: 1, February 2012)
Department of Electrical and Computer Engineering Faculty of Engineering, University of Porta, Porto, Portugal
Miguel Pinto (M'09) was born in Caracas, Venezuela, in 1986. He received the M.Sc. degree in electrical engineering from the University of Porto, Porto, Portugal, in 2009, and is currently pursuing the Ph.D. degree in electrical and computer engineering at the Robotic and Intelligent Systems Unit, Institute for Systems and Computer Engineering of Porto (INESC Porto), Porto, Portugal.
After completing his M.Sc. studies, he ...Show More
Miguel Pinto (M'09) was born in Caracas, Venezuela, in 1986. He received the M.Sc. degree in electrical engineering from the University of Porto, Porto, Portugal, in 2009, and is currently pursuing the Ph.D. degree in electrical and computer engineering at the Robotic and Intelligent Systems Unit, Institute for Systems and Computer Engineering of Porto (INESC Porto), Porto, Portugal.
After completing his M.Sc. studies, he ...View more
Department of Electrical and Computer Engineering Faculty of Engineering, University of Porta, Porto, Portugal
António Paulo Moreira (M'09) received the degree in electrical engineering, M.Sc. degree in electrical engineering—systems, and Ph.D. degree in electrical engineering from the University of Porto, Porto, Portugal, in 1986, 1991, and 1998, respectively.
From 1986 to 1998, he also worked as an Assistant Lecturer with the Electrical Engineering Department, University of Porto. He is currently a Lecturer in electrical engineer...Show More
António Paulo Moreira (M'09) received the degree in electrical engineering, M.Sc. degree in electrical engineering—systems, and Ph.D. degree in electrical engineering from the University of Porto, Porto, Portugal, in 1986, 1991, and 1998, respectively.
From 1986 to 1998, he also worked as an Assistant Lecturer with the Electrical Engineering Department, University of Porto. He is currently a Lecturer in electrical engineer...View more
Department of Electrical and Computer Engineering Faculty of Engineering, University of Porta, Porto, Portugal
Aníbal Matos (M'08) received the B.Sc., M.Sc., and Ph.D. degrees in electrical and computer engineering from the University of Porto, Porto, Portugal, in 1991, 1994, and 2001, respectively.
He is currently an Assistant Lecturer with the Electrical and Computer Engineering Department, University of Porto, and is also a Researcher with the Robotics and Intelligent Systems Unit, Institute for Systems and Computer Engineering ...Show More
Aníbal Matos (M'08) received the B.Sc., M.Sc., and Ph.D. degrees in electrical and computer engineering from the University of Porto, Porto, Portugal, in 1991, 1994, and 2001, respectively.
He is currently an Assistant Lecturer with the Electrical and Computer Engineering Department, University of Porto, and is also a Researcher with the Robotics and Intelligent Systems Unit, Institute for Systems and Computer Engineering ...View more
Contents Department of Electrical and Computer Engineering Faculty of Engineering, University of Porta, Porto, Portugal
Miguel Pinto (M'09) was born in Caracas, Venezuela, in 1986. He received the M.Sc. degree in electrical engineering from the University of Porto, Porto, Portugal, in 2009, and is currently pursuing the Ph.D. degree in electrical and computer engineering at the Robotic and Intelligent Systems Unit, Institute for Systems and Computer Engineering of Porto (INESC Porto), Porto, Portugal.
After completing his M.Sc. studies, he was a Guest Assistant with the Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto. His main research areas are in process control and robotics, navigation, and localization of autonomous vehicles, including terrain and marine robotics.
Miguel Pinto (M'09) was born in Caracas, Venezuela, in 1986. He received the M.Sc. degree in electrical engineering from the University of Porto, Porto, Portugal, in 2009, and is currently pursuing the Ph.D. degree in electrical and computer engineering at the Robotic and Intelligent Systems Unit, Institute for Systems and Computer Engineering of Porto (INESC Porto), Porto, Portugal.
After completing his M.Sc. studies, he was a Guest Assistant with the Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto. His main research areas are in process control and robotics, navigation, and localization of autonomous vehicles, including terrain and marine robotics.View more
Department of Electrical and Computer Engineering Faculty of Engineering, University of Porta, Porto, Portugal
António Paulo Moreira (M'09) received the degree in electrical engineering, M.Sc. degree in electrical engineering—systems, and Ph.D. degree in electrical engineering from the University of Porto, Porto, Portugal, in 1986, 1991, and 1998, respectively.
From 1986 to 1998, he also worked as an Assistant Lecturer with the Electrical Engineering Department, University of Porto. He is currently a Lecturer in electrical engineering, developing his research within the Robotic and Intelligent Systems Unit, Institute for Systems and Computer Engineering of Porto (INESC Porto), Porto, Portugal. His main research areas are process control and robotics.
António Paulo Moreira (M'09) received the degree in electrical engineering, M.Sc. degree in electrical engineering—systems, and Ph.D. degree in electrical engineering from the University of Porto, Porto, Portugal, in 1986, 1991, and 1998, respectively.
From 1986 to 1998, he also worked as an Assistant Lecturer with the Electrical Engineering Department, University of Porto. He is currently a Lecturer in electrical engineering, developing his research within the Robotic and Intelligent Systems Unit, Institute for Systems and Computer Engineering of Porto (INESC Porto), Porto, Portugal. His main research areas are process control and robotics.View more
Department of Electrical and Computer Engineering Faculty of Engineering, University of Porta, Porto, Portugal
Aníbal Matos (M'08) received the B.Sc., M.Sc., and Ph.D. degrees in electrical and computer engineering from the University of Porto, Porto, Portugal, in 1991, 1994, and 2001, respectively.
He is currently an Assistant Lecturer with the Electrical and Computer Engineering Department, University of Porto, and is also a Researcher with the Robotics and Intelligent Systems Unit, Institute for Systems and Computer Engineering of Porto (INESC Porto), Porto, Portugal. His research areas include modeling, navigation and control of autonomous vehicles, nonlinear control systems, and marine robotics.
Aníbal Matos (M'08) received the B.Sc., M.Sc., and Ph.D. degrees in electrical and computer engineering from the University of Porto, Porto, Portugal, in 1991, 1994, and 2001, respectively.
He is currently an Assistant Lecturer with the Electrical and Computer Engineering Department, University of Porto, and is also a Researcher with the Robotics and Intelligent Systems Unit, Institute for Systems and Computer Engineering of Porto (INESC Porto), Porto, Portugal. His research areas include modeling, navigation and control of autonomous vehicles, nonlinear control systems, and marine robotics.View more
