5dpo-2000 Team Description

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. 1 Mechanical Aspects Mechanically, the 5dpo-2000 robots are based on an aluminum chassis that forms a building like structure. Only the back of the robot has a wall from the bottom to the top, the other sides are open to allow an easy access to the different modules. On the...

• Type: Conference
• Year: 1999
• Where: ROBOCUP
• Authors: Paulo Costa, António Moreira, Armando Sousa, Paulo Marques, Pedro Costa, Aníbal Matos
• Keywords: Evolutive Approach, Relevant Control Issues, ROBOCUP 1999, Robotics, Robots