Implementation of a Mobile Platform Using Reconfigurable Hardware (FPGA) for Navigation in Dynamic Environments

Abstract

This paper presents the implementation of a differential mobile robot, using reconfigurable hardware (FPGAS-Spartan 3E) for navigation in dynamic environments. Different algorithms were implemented in VHDL, for navigation tasks, such as controlling the speed of the robot motors; reading the infrared sensor module (which was designed and implemented), for detecting obstacles in the navigation environment; digital compass reading to determine the robot’s direction, and a Matlab GUI for exchanging information between the robot and the controller. The algorithms and the results of some tests conducted with the robot in different environments are shown