AGV Robot Control by using FPGA

In this paper, the robot with three wheels is implement and its motion is controlled . two of robot’s wheels are activated by DC motors. The main PID controllers are implemented with a Field Programmable Gate Array(FPGA) for independent robot movement . a FPGA controller communicate with a PC with PCI card(PLX9052) so that the movement of wheels can be displayed on the monitor through PCI card communication. Experimental results show that good position tracking can be achieved .In addition, on linear digital PID controller is also implemented on AT mega128L(AVR micro controller) to compare with FPGA.