An efficient median filter in a robot sensor soft ip-core

摘要

The design and development of a digital median filter is presented as part of a soft ip-core for an autonomous mobile robot. The median filter filters the output of the measurement module of a line sensor ip-core for the robot. The bubble-sort network architecture is adopted for the median filter design. The effectiveness of the algorithm is verified by Matlab programming. The hardware algorithm is implemented in hardware on a Xilinx Spartan-3 FPGA device as part of the robot's line-sensor ip-core.