Tracking control using the strip-wise affine transformation: An experimental SoC design

Author

Moustris, George P. ; Deliparaschos, Kyriakos M. ; Tzafestas, Spyros G.

Author_Institution

Electr. & Comput. Eng. Dept., Intell. Autom. Syst. Res. Group, Nat. Tech. Univ. of Athens, Athens, Greece

fYear

2009

fDate

23-26 Aug. 2009

Firstpage

1275

Lastpage

1280

Abstract

This paper presents the analysis and application of the strip-wise affine map to the path following task for autonomous non-holonomic mobile robots. The mapping was implemented on a Spartan 3-1500 FPGA board with the use of VHDL and advanced EDA tools and was used in field experiments on a Khepera H differential robot. A fully parameterized DFLC previously published by the author has been tailored accordingly for the needs of this design implementation. Experiments were performed using a calibrated camera and a video tracking algorithm in order to extract the actual robot´s path, compare it to the odometry solution and analyze the tracker´s performance.

Keywords

affine transforms; electronic design automation; field programmable gate arrays; mobile robots; position control; system-on-chip; Khepera II differential robot; SoC design; Spartan 3-1500 FPGA board; VHDL tools; advanced EDA tools; autonomous nonholonomic mobile robots; calibrated camera; design implementation; electronic design automation; path following task; strip-wise affine transformation; system-on-a-chip; tracking control; video tracking algorithm; Decision support systems; Europe; Manganese; Noise measurement; System-on-chip; TV; Zinc; Digital Fuzzy Logic Processor (DFLP); Electronic Design Automation (EDA); Non-Holonomic Mobile Robots; Path Tracking; Strip-Wise Affine Transformation; System-on-a-Chip (SoC); Very-High-Speed Integrated Circuits Hardware Description Language (VHDL);

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2009 European

Conference_Location

Budapest

Print_ISBN

978-3-9524173-9-3

Type

conf

Filename

7074581