Design and implementation of computationally efficient architecture of PID based motion controller for robotic land navigation system in FPGA

Abstract

Motion and speed sensors/controllers are an integral part of day to day applications like automobiles, wheel chairs and high end applications like robotic navigation systems. In present day automated systems, a controller that has precise control and high accuracy plays a key role in its operation. PID controllers offer better performance than traditional Comparators by providing quick settling time, smaller maximum overshoot and zero steady state error. This paper presents a PID based speed and motion controller that can be used in Robotic land navigation systems. The proposed PID based controller was implemented on Basys3 FPGA kit and interfaced with speed sensor and robotic land navigation system. The simulations were done on Vivado 14.5 and the hardware utilization of the PID based speed control system was extracted.