Implementation of control algorithm in FGA for wheeled robots

• Main Author: Low, Kong Hooi.
• Other Authors: Lim Meng Hiot
• Format: Final Year Project
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: http://hdl.handle.net/10356/17819
• Institution: Nanyang Technological University

The project is a follow up from the previous project A2054-CLPD embedded Control Algorithms for Wheeled Robots. The earlier porject successfully ceated a mobile robot which serves as a platform for testing VHDL codes for P313 lab assignment. The main aim of this project is to improve on the design of the previous mobile robot such that the PIC microcontrollers and the CPLD chip can be replaced by a FPGA chip. This report will touch on the architecture of the robot, hardware analysis, and software analysis. The test bench waveform results for the VHDL codes are also included. Based on the test bench waveform results the new mobile robot is able to fulfil the main aim of the project.