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.

[1]  Jae Wook Jeon,et al.  Introduction for Freshmen to Embedded Systems Using LEGO Mindstorms , 2009, IEEE Transactions on Education.

[2]  Javier Ruiz-del-Solar.  Robotics-Centered Outreach Activities: An Integrated Approach , 2010, IEEE Transactions on Education.

[3]  Jae Wook Jeon,et al.  Educating C Language using LEGO mindstorms Robotic Invention System 2.0 , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[4]  Holly Patterson-McNeill,et al.  Resources for using lego mindstorms , 2001 .

[5]  N.Z. Azlan,et al.  Fuzzy Logic Controlled Miniature LEGO Robot for Undergraduate Training System , 2007, 2007 2nd IEEE Conference on Industrial Electronics and Applications.

[6]  José Eduardo Ribeiro Cury,et al.  Practicing engineering in a freshman introductory course , 2006, IEEE Transactions on Education.

[7]  Rob A. Rutenbar,et al.  Reengineering the curriculum: design and analysis of a new undergraduate Electrical and Computer Engineering degree at Carnegie Mellon University , 1995, Proc. IEEE.

[8]  Frank Klassner,et al.  LEGO MindStorms: not just for K-12 anymore , 2003, IEEE Robotics Autom. Mag..

[9]  Arthur Gelb,et al.  Applied Optimal Estimation , 1974 .

[10]  Javier Ruiz-del-Solar,et al.  Robotics courses for children as a motivation tool: the Chilean experience , 2004, IEEE Transactions on Education.

[11]  Abhijit Nagchaudhuri,et al.  LEGO robotics products boost student creativity in precollege programs at UMES , 2002, 32nd Annual Frontiers in Education.

[12]  Andrew B. Williams.  The qualitative impact of using LEGO MINDSTORMS robots to teach computer engineering , 2003, IEEE Trans. Educ..

[13]  Wolfram Burgard,et al.  Probabilistic Robotics (Intelligent Robotics and Autonomous Agents) , 2005 .

[14]  M.I.G. Mota.  Work in progress - using lego mindstorms and robolab as a mean to lowering dropout and failure rate in programming course , 2007, 2007 37th Annual Frontiers In Education Conference - Global Engineering: Knowledge Without Borders, Opportunities Without Passports.

[15]  Til Aach,et al.  MATLAB Meets LEGO Mindstorms—A Freshman Introduction Course Into Practical Engineering , 2010, IEEE Transactions on Education.

[16]  Holly Patterson-McNeill,et al.  Learning how to develop software using the toy LEGO mindstorms , 2002, ITiCSE '02.

[17]  Shekhar Sharad.  Introducing Embedded Design Concepts to Freshmen and Sophomore Engineering Students with LEGO MINDSTORMS NXT , 2007, 2007 IEEE International Conference on Microelectronic Systems Education (MSE'07).

[18]  Eric Krotkov.  Robotics laboratory exercises , 1996 .

[19]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[20]  D.C. Cliburn,et al.  Experiences with the LEGO Mindstorms throughout the Undergraduate Computer Science Curriculum , 2006, Proceedings. Frontiers in Education. 36th Annual Conference.

[21]  Gunter W. Georgi,et al.  Freshman project: Autonomous Underwater Vehicle (AUV) , 2007 .

[22]  Roland Sauerbrey,et al.  Biography , 1992, Ann. Pure Appl. Log..

[23]  M. Huggard,et al.  Peer learning with Lego Mindstorms , 2004, 34th Annual Frontiers in Education, 2004. FIE 2004..