The mobile robot navigation system based on SOPC

Author

Sun Hua ; Wang Qingshan ; Zhang Yan

Author_Institution

Harbin Eng. Univ., Harbin, China

fYear

2013

Firstpage

4881

Lastpage

4884

Abstract

SOPC (System On a Programmable Chip) technology as an advanced embedded systems solution, with its powerful capability of data processing and software-hardware collaborative design concept, has been more and more applied in mobile robot navigation system. The GPS/electric compass/odometer combined navigation system has been designed based on SOPC. The GPS data receive module has been designed by using hard ware design language to programme. The electric compass course angle has been measured by the multi-point measuring solute to remove disturb. The system´s process speed and precision has increased. The GPS/electric compass/odometer combined navigation system´s kalman filter has been designed. The robot´s attitude and location have measured by combining GPS and EC and odometer.

Keywords

Global Positioning System; Kalman filters; compasses; distance measurement; embedded systems; hardware-software codesign; mobile robots; navigation; path planning; system-on-chip; GPS data receive module; Kalman filter; SOPC; advanced embedded system solution; data processing; electric compass course angle; hardware design language; mobile robot navigation system; multipoint measuring solute; odometer combined navigation system; robot attitude; software-hardware collaborative design concept; system process speed; system-on-a-programmable chip technology; Decision support systems; GPS; SOPC; location; mobile robot; navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2013 32nd Chinese

Conference_Location

Xi´an

Type

conf

Filename

6640285