Low-cost embedded intelligent system design for smart mobile robot controller

• Autorzy: Saber Aws H. , Abdulla Ali A. , Alwan Ghazwan , Alsaigh Rashad A.

Identyfikatory

DOI

10.15199/48.2023.03.42

Warianty tytułu

PL

Niedrogi projekt inteligentnego systemu wbudowanego dla inteligentnego kontrolera robota mobilnego

• Języki publikacji: EN

Abstrakty

EN

The motion and sensing controllers are the main parts of any intelligent mobile robot. This paper has studied and tested the minimum possible hardware-consuming cost of motion and sensing controllers for mobile robot applications. The VHDL (Very high-speed integrated circuit Hardware Description Language) is used to design a counter-based architecture of motion and sensing controllers to gain the lowest possible implementation cost. Then a deep study of the designed architectures proved that it produces an economical use of hardware resources when implemented in XC3S1000 FPGA (Field Programmable Gate Array) device using ISE 14.1. The designed controllers worked successfully after implementation in XC3S1000 with 34 Slices cost only.

PL

Kontrolery ruchu i czujników są głównymi częściami każdego inteligentnego robota mobilnego. W tym artykule zbadano i przetestowano minimalny możliwy koszt sprzętowy kontrolerów ruchu i czujników do zastosowań robotów mobilnych. Język VHDL (ang. Very highspeed Integrated Circuit Hardware Description Language) służy do projektowania opartej na licznikach architektury kontrolerów ruchu i czujników w celu uzyskania możliwie najniższych kosztów wdrożenia. Następnie dogłębne badanie zaprojektowanych architektur dowiodło, że zapewnia oszczędne wykorzystanie zasobów sprzętowych po zaimplementowaniu w urządzeniu XC3S1000 FPGA (Field Programmable Gate Array) przy użyciu ISE 14.1. Zaprojektowane kontrolery działały z powodzeniem po wdrożeniu w XC3S1000 przy kosztach tylko 34 Slices.

Słowa kluczowe

EN

mobile robot controller; FPGA; ultrasonic sensor; motion controller

PL

kontroler robota mobilnego; FPGA; czujnik ultradźwiękowy; kontroler ruchu

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2023
• Tom: R. 99, nr 3
• Strony: 236--240
• Opis fizyczny: Bibliogr. 23 poz., rys.

Twórcy

autor

Saber Aws H.

• University of Mosul, College of Engineering, Mosul

• https://orcid.org/0000-0002-9648-7049

autor

Abdulla Ali A.

• University of Mosul, College of Engineering, Mosul

• https://orcid.org/0000-0002-1563-0764

autor

Alwan Ghazwan

• University of Tikrit, College of Engineering, Tikrit

• https://orcid.org/0000-0001-8222-817X

autor

Alsaigh Rashad A.

• University of Mosul, College of Engineering, Mosul

• https://orcid.org/0000-0001-5095-2833

Bibliografia

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• [2] Fragapane, Giuseppe, René de Koster, Fabio Sgarbossa, and Jan Ola Strandhagen. "Planning and control of autonomous mobile robots for intralogistics: Literature review and research agenda." European Journal of Operational Research (2021). DOI : https://doi.org/10.1016/j.ejor.2021.01.019
• [3] Shymkovych, Volodymyr, Sergii Telenyk, and Petro Kravets. "Hardware implementation of radial-basis neural networks with Gaussian activation functions on FPGA." Neural Computing and Applications (2021): 1-13. DOI : https://doi.org/10.1007/s00521-021-05706-3
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• [6] Babunski, Darko, Jakup Berisha, Emil Zaev, and Xhevahir Bajrami. "Application of Fuzzy Logic and PID Controller for Mobile Robot Navigation." In 2020 9th Mediterranean Conference on Embedded Computing (MECO), pp. 1-4. IEEE, 2020. DOI : https://doi.org/10.1109/MECO49872.2020.9134317
• [7] Gao, Huanbing, Shouyin Lu, and Tao Wang. "Motion path planning of 6-DOF industrial robot based on fuzzy control algorithm." Journal of Intelligent & Fuzzy Systems Preprint (2020): 1-10. DOI : 10.3233/JIFS-179600
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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).