Design and implement active embedded robot tracking system using FPGA for better performance

Abstract

Active robot tracking system is one kind of utilization of tracking system on a mobile robot and widely used in many aspect such as security or military. With the widespread of application of robot tracking system, it is necessary that the development of this robot tracking system that facilitate future enhancement. However, problem of detecting the object, planning path and avoiding obstacles during tracking the object is an important issue in mobile robot tracking system. Plentiful of sensors had been used to solve these problems and one of the FPGA platforms is chosen in this project. Active robot tracking system can detect a moving object, set it as target and follow the trail of target. In this project, two infrared distance sensor are chosen to be the tracking sensor to detect any moving object while an ultrasonic sensor as the obstacle avoidance sensor. To well-know the FPGA platform used, some understanding on it is done. Then, some testing on characteristic of sensors and on robot stability carried out to master those sensor and robot well. Next, those sensor and robot platform interfaced with the DE0 Nano board. After that, the coding VHDL used to overcome design challenges. After all, the design will try on the robot platform and tuning up. At the end of result, the tracking system found that is flexible used in any two wheeled robot, respond faster, modified easily and high frequency.