2277 - 1956 / V 1 N 2 - 161 - 165 Reconfiguration of Mobile Robot

Dynamic Partial Reconfiguration (DPR) of FPGAs presents many opportunities for application design flexibility, enabling tasks to dynamically swap in and out of the FPGA without entire system interruption. In this paper, we will implement a line follower robot for the white line as well as for black line; both these modules will be programmed in VHDL. The robot will dynamically reconfigure the FPGA in the run-time while the robot senses black line after white line or vice-versa. This design includes two modules one is static and the other is partially reconfigurable regions (PRR) which is a dynamic region. The controllers are the static modules used for controlling the flow of data to and from the reconfigurable modules to the external world (host environment) through busmacros. Whereas white line and black line modules are designed as dynamic modules. Different hardware modules will be used such as Sensors and actuators , all these modules will be interfaced using FPGA controller. The speed of motor is controlled using pulse width modulation (PWM) using VHDL Keywords— FPGA, reconfiguration, line follower robot, pulse width modulation.