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


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.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE :Robust Chance Constrained Power Allocation Scheme for Multiple Target Localization in Colocated MIMO Radar System - 2018ABSTRACT:Taking into consideration the probabilistic uncertainty on the target radar cross
PROJECT TITLE :Attack Detection in Sensor Network Target Localization Systems With Quantized Data - 2018ABSTRACT:We have a tendency to think about a sensor network focused heading in the right direction localization, where sensors
PROJECT TITLE :Application of Manifold Separation to Parametric Localization for Incoherently Distributed Sources - 2018ABSTRACT:By using the manifold separation technique (MST), we develop a computationally efficient nonetheless
PROJECT TITLE :Mercury: An Infrastructure-Free System for Network Localization and Navigation - 2018ABSTRACT:Location-awareness permits a variety of rising applications on mobile devices. For indoor applications, a fascinating
PROJECT TITLE :Enhancing Localization Scalability and Accuracy via Opportunistic Sensing - 2018ABSTRACT:Employing a mobile phone for fine-grained indoor localization remains an open drawback. Low-complexity approaches without

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry