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FPGA-Based Obstacle Avoidance and Line Tracking System For Autonomous Mobile Robots

Authors:
Sorore Benabid
Loïc Latour
Solène Poulain

Keywords: Obstacle avoidance; Line tracking; Field Programmable Gate Array (FPGA); Autonomous mobile robots.

Abstract:
In this paper, we develop a prototype of an autonomous mobile robot using an Field Programmable Gate Array (FPGA) based control system. The robot is able to detect the obstacles that are on its way and avoid them in real-time using ultrasonic sensors. The robot can also follow a line chosen by the operator using a camera. In addition, for the robot motion two wheels and DC motors are used. The motors are driven by an H bridge and the motor speed is controlled using a Pulse Width Modulation (PWM) signal. The whole system is implemented only in Very High speed integrated circuit Hardware Description Language (VHDL) code on a Nexys 4 development board with Artix FPGA device from Xilinx that operates at 100 MHz.

Pages: 8 to 11

Copyright: Copyright (c) IARIA, 2020

Publication date: November 21, 2020

Published in: conference

ISSN: 2308-426X

ISBN: 978-1-61208-823-5

Location: Valencia, Spain

Dates: from November 21, 2020 to November 25, 2020