Unified motion controller design and FPGA-based implementation for nonholonomic mobile robots

This paper presents techniques for design and system-on-a-programmable-chip (SoPC) realization of a kinematics controller to achieve simultaneous tracking and regulation for a nonholonomic two-wheeled mobile robot moving at low speeds. The kinematics controller is designed based on the Lyapunov stab...

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Bibliographic Details
Main Authors: Ching-Chih Tsai, Feng-Chun Tai, Shih-Min Hsieh
Format: Conference Proceeding
Language:English
Subjects:
Field programmable gate arrays
FPGA
Hardware
Kinematics
Mobile robots
nonholonomic mobile robot
regulation
Software
SoPC
Tracking
Trajectory
trajectory tracking
Online Access:Request full text
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Summary:This paper presents techniques for design and system-on-a-programmable-chip (SoPC) realization of a kinematics controller to achieve simultaneous tracking and regulation for a nonholonomic two-wheeled mobile robot moving at low speeds. The kinematics controller is designed based on the Lyapunov stability theory, and the proposed motion control law is then implemented into a FPGA development board (Altera's NIOS II development kit, Stratix II edition). Simulations and experimental results are conducted to illustrate the effectiveness and performance of the proposed FPGA-based controller for nonholonomic mobile robots.