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Design and implementation of embedded multi-sensor outdoor robot localization system using FPGA

Master of Science in Embedded Systems Design Engineering

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Bibliographic Details
Main Author: Hayder Ali, Hussein Al Aakool
Other Authors: Muataz Hameed Salih, Al Doori, Dr.
Format: Dissertation
Language:English
Published: Universiti Malaysia Perlis (UniMAP) 2017
Subjects:
Autonomous robots
Embedded computer systems
Field programmable gate arrays
Robotics
Online Access:http://dspace.unimap.edu.my:80/xmlui/handle/123456789/77163
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spelling my.unimap-771632022-11-24T04:51:08Z Design and implementation of embedded multi-sensor outdoor robot localization system using FPGA Hayder Ali, Hussein Al Aakool Muataz Hameed Salih, Al Doori, Dr. Autonomous robots Embedded computer systems Field programmable gate arrays Robotics Master of Science in Embedded Systems Design Engineering Recently, there has been a significant increase in the interest for robots. However, manually navigating a robot requires a skilled pilot who has high constant concentration levels for sustained periods. Therefore, strong scientific interest has emerged in terms of developing solutions that allow a robot to navigate autonomously without needing constant human supervision. This is useful for a variety of potential applications ranging from surveillance and reconnaissance purposes, aerial filming, remote visual inspection of industrial sites and military applications as well. Unlike humans, a robot does not have the sensing capacity and the ability to explore its environment and determine location. Therefore, sensors such as Infrared, ultrasonic, accelerometer and GPS need to be integrated on the robot to improve its environmental perception. The robot then needs be able to determine its destination and find shortest path to get there. Dijkstra algorithm is implemented to examine all related nodes along the robot’s path towards destination. The robot is marking nodes as visited and unvisited to decide which path is proper to be followed. Furthermore, the robot has the capacity to detect obstacles within path toward destination. FPGA DE0 Nano board is used because of its portability and extensive computational power that overcome the delay and power consumption in the project. There are three modules in a path planning approach - the first generates a route to the desired location, the second detects if there are obstacles, and the third is for collision avoidance. The GPS sensor was utilised to determine the positions for the current and desired locations. DE0-Nano sent proper signals to the L293D to control robot’s motors according to sensor signals. The result revealed that the output reading voltage of the IR sensor exhibited high reflectivity for white coloured objects compared to other colours like black and blue. The IR and ultrasonic sensors already calibrated to detect obstacles and keep the distance between the robot and obstacles from 30 cm to 50 cm. The DE0 Nano achieved a maximum operating frequency up to 1.3 GHz and total logic elements were 6,032. This means that the robot’s platform’s frequency requirements were achieved at 1.3 GHz. 2017 2022-11-24T04:46:49Z 2022-11-24T04:46:49Z Dissertation http://dspace.unimap.edu.my:80/xmlui/handle/123456789/77163 en Universiti Malaysia Perlis (UniMAP) Universiti Malaysia Perlis (UniMAP) School of Computer and Communication Engineering
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Autonomous robots
Embedded computer systems
Field programmable gate arrays
Robotics
spellingShingle Autonomous robots
Embedded computer systems
Field programmable gate arrays
Robotics
Hayder Ali, Hussein Al Aakool
Design and implementation of embedded multi-sensor outdoor robot localization system using FPGA
description Master of Science in Embedded Systems Design Engineering
author2 Muataz Hameed Salih, Al Doori, Dr.
author_facet Muataz Hameed Salih, Al Doori, Dr.
Hayder Ali, Hussein Al Aakool
format Dissertation
author Hayder Ali, Hussein Al Aakool
author_sort Hayder Ali, Hussein Al Aakool
title Design and implementation of embedded multi-sensor outdoor robot localization system using FPGA
title_short Design and implementation of embedded multi-sensor outdoor robot localization system using FPGA
title_full Design and implementation of embedded multi-sensor outdoor robot localization system using FPGA
title_fullStr Design and implementation of embedded multi-sensor outdoor robot localization system using FPGA
title_full_unstemmed Design and implementation of embedded multi-sensor outdoor robot localization system using FPGA
title_sort design and implementation of embedded multi-sensor outdoor robot localization system using fpga
publisher Universiti Malaysia Perlis (UniMAP)
publishDate 2017
url http://dspace.unimap.edu.my:80/xmlui/handle/123456789/77163
_version_ 1753972981676113920
score 13.214268

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