FPGA as an Embedded System of a Mobile Robot with incorporated Neuro - Fuzzy Algorithm for Obstacle Avoidance Mission
نویسنده
چکیده
Navigation and obstacle avoidance are some of the important tasks or mission deployed and accomplished by an autonomous mobile robot. This paper presents the designed obstacle avoidance program for mobile robot that incorporates a neuro-fuzzy algorithm using Altera Field Programmable Gate Array (FPGA) development board. To generate collisionfree path for mobile robot, a proper motion planning is needed. The neuro-fuzzy-based-obstacle avoidance program is simulated and implemented on the hardware system using Altera Quartus® II design software, System-on-programmablechip (SOPC) Builder, Nios® II Integrated Design Environment (IDE) software, and FPGA development and education board (DE2). Simulation and weight training process are carried out with the aid of Nios® II IDE software. A mobile robot serves as the test platform of the program. An ultrasonic sensor and servo motors are used as the test platform’s sensing element and actuator, respectively. With the aid of an established radio frequency (RF) communication between the mobile robot and FPGA board, the proposed algorithm is successfully implemented and verified.
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