FPGA Implementation for Path and Wall Following Wheeled Robots

Shiow-Jyu Lin, Ju-Xun He, Guan-Wei Chen, Wang-Wei Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.
Original languageAmerican English
Title of host publicationFrontiers in Artificial Intelligence and Applications
PublisherIOS Press
Pages279-288
Number of pages10
Volume274
DOIs
StatePublished - Nov 2015

Publication series

NameNTELLIGENT SYSTEMS AND APPLICATIONS (ICS 2014)

Keywords

  • path-following locomotion
  • wall-following locomotion
  • ultrasonic sensing
  • infrared sensing

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