Enhance implementation of embedded robot auto-navigation system using FPGA for better performance

摘要

Nowadays, Auto-navigation robots are cutting-edge and widely used and investigated by robotics experts. An autonomous robot can function and complete every task without any human guidance. Since it functions without human intervention, therefore obstacles detection and localization are significant and need to figure out. First, how the robot obstacle detection? Second, how to control auto-navigation robot localization accuracy and stability motion of the robot? Both of conditions would significantly affect performance and accuracy of robot to detect and reach destination. Therefore, we needed to figure out few solutions to solve these problems before create an auto-navigation system. Initially, testing and using suitable detection sensors and design suitable algorithm for sensor to detect obstacles. Then, Global Positioning System (GPS) would be used to calculate based upon information from GPS receiver to mapping the shortest path for robot to reach destination. Lastly, timing of the robot will generate by using 50MHz default frequency of DE0-Nano to control motors and direction of the wheels. In addition, using DE0-Nano board the design operating frequency can reach maximum 1GHz. Furthermore, the potential resources of Quartus II version 14.1 are utilized to implement supported modules of auto-navigation robot stages. The design had been carried out on Altera Cyclone IV FPGA. The autonavigation robots were provided higher flexibility and could help people do to something which will develop into life-threatening. So that, it's rapidly enlarging on industry floor.