Author(s): António Paulo Moreira ; Luís Paulo Reis ; Paulo Costa ; Armando Sousa
Date: 2004
Persistent ID: https://hdl.handle.net/10216/67322
Origin: Repositório Aberto da Universidade do Porto
Subject(s): Engenharia electrotécnica, Engenharia electrotécnica, electrónica e informática; Electrical engineering, Electrical engineering, Electronic engineering, Information engineering
This paper briefly describes the design principles of the hardware and software of 5dpo-2000 team. An evolutive approach is presented as the robots are constantly being improved with new capabilities added or removed as the experience from previous competitions is used to access their advantages or disadvantages. Also is presented the use of this robots as a tool and motivator for some experiments done by students of graduate and undergraduate courses. Some design options that proved extremely important for rapid development are presented and the advantages explained. Relevant control issues are also addressed, especially some details of the application of Kalman Filters in the design of the localization algorithms.
