NDLI: Slope-based point pursuing maneuvers of nonholonomic robots using FPGA

Content Provider	IEEE Xplore Digital Library
Author	Ying-Hao Yu Kodagoda, S. Ha, Q.P.
Copyright Year	2010
Description	Author affiliation: ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering and Information Technology, University of Technology, Sydney, PO Box 123 Broadway NSW 2007 Australia (Ying-Hao Yu; Kodagoda, S.; Ha, Q.P.)
Abstract	Steering maneuver is essential in robotic motion planning. Despite a lot of steering mechanisms successfully developed in past years, for miniature robots, real-time computation is still a limitation for robot path tracking. The design issues in cooperative control of battery-powered nonholonomic robots rest with the complicacy of the control strategies, the low power consumption and real-time processing capability. Conventionally, the improvement of computing speed mostly relies on the increment of the system clock and often results in some transient loss. Thus, an elaborate control algorithm developed for PC might not work on an embedded system. This paper presents a comprehensive steering algorithm which, via issuing predicaments for computation, will dramatically reduce the resource usage in hardware circuit design. The proposed algorithm is implemented on an embedded system for ubiquitous robotics using the field programmable gate array (FPGA) technology.
Starting Page	3694
Ending Page	3699
File Size	988950
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652739
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Turning Robot kinematics Field programmable gate arrays Algorithm design and analysis Trajectory Embedded systems
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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