fpga based design

FPGA Based Robotic Design

By

Rajesh Kumar P

Overview of Presentation

Motivation Digital Logic Alternatives ASIC X PLD FPGA X CPLD Sensors for Mobile Robot Interfacing of FPGA with Sensors Making a Mobile Robot

Motivation

PC-based solutions are not space-efficient and consume more power

Digital Logic Alternatives

Digital Logic

Standard LogicProgrammable

ASICMaskedASIC

ASIC X PLD

Programmability Turnaround time Power consumption Cost

Definition of a CPLD

CPLD Architecture

CPLD Board

Definition of a FPGA

FPGA Architecture

The LUT: Basic Building Block

Wide Logic

Data Intensive Operation

Xilinx FPGA Board

Sensors

Ultrasonic Sensor Infrared Sensor

Ultrasonic Sensors

Distance Measurement UsingUltrasonic Sensor

Ultrasonic Sensor Working

Sound Wave Propagation Speed

V = 331.5 + 0.6 * t [ m/sec ]t : The temperature (°C)

Temperature(°c) Speed of Sound(m/sec)

0 331.5

10 337.5

20 343.5

30 349.5

40 355.5

Ultrasonic Range Finder

IR Sensors

Architecture of FPGA Based Mobile Robot

Elements of FPGA Based Mobile Robot

Ultrasonic Sensors Circuits

FPGA BOARD

Stepper MotorController

Stepper Motor

An Architecture for Robotic Exploration

FPGA Based Mobile Robot

References

Vincent.J.Coli. “FPGA Design Technology”, Microprocessors and Microsystems Journal, Elsevier, Vol 17,pp 383-389, March 2006. Available from www.sciencedirect.com

Amara. A, Thomas Ea. “FPGA Vs. ASIC for Low

Power Applications ”, Microelectronics Journal, Elsevier, Article in press. Available from www.sciencedirect.com

References N. Ranganathan, B. Parthasarathy and K.

Hughes,A parallel algorithm and architecture for robot path planning, Proceedings of IEEE Parallel Processing Symposium ",PP 275-279,1994

P.Rajesh Kumar, K. Sridharan.``Field Programmable Gate Array-based Robotic Exploration of an Indoor Environment". Accepted for presentation in First IEEE Conference on Industrial Electronics and Applications (ICIEA- 2006), To be held in Singapore in May 2006; Proceedings will be published on IEEExplore

ASIC Design Flow

FPGA Design FlowFPGA Design Flow

A FPGA Based Mobile Robot

A Notebook PC based Mobile Robot