@inproceedings{04f83f52085d44bf90f6bf19e8a27619,
title = "FPGA Implementation for Path and Wall Following Wheeled Robots",
abstract = "This paper presents a FPGA implementation for path- and wall- following micro-robots. The distance between the robot and obstacles /adjacent walls will be computed using ultrasonic sensing. Infrared sensing modules installed in front of the proposed system detect the curvature of a marked path. The FPGA controller unit generates a PWM signal and adaptively controls DC motors to achieve wall-following and obstacle avoidance locomotion. Our proposed locomotion algorithm will control robots to simultaneously follow a marked line and avoid obstructions along the path. 15% logic elements and 3% registers are applied in the FPGA controller unit. Since the available reconfigurable hardware resources in FPGA chip are very extensive, multi-functional robotic applications can be implemented by integrating diverse modules for widespread usage.",
keywords = "path-following locomotion, wall-following locomotion, ultrasonic sensing, infrared sensing",
author = "Shiow-Jyu Lin and Ju-Xun He and Guan-Wei Chen and Wang-Wei Chen",
year = "2015",
month = nov,
doi = "10.3233/978-1-61499-484-8-279",
language = "American English",
volume = "274",
series = "NTELLIGENT SYSTEMS AND APPLICATIONS (ICS 2014)",
publisher = "IOS Press",
pages = "279--288",
booktitle = "Frontiers in Artificial Intelligence and Applications",
address = "Netherlands",
}