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 contributionpeer-review


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
Number of pages10
StatePublished - Nov 2015

Publication series



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

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