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Recent Advances in Electrical & Electronic Engineering

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ISSN (Print): 2352-0965
ISSN (Online): 2352-0973

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Research Article

Implementation of Barrier Sensing and Avoidance System on FPGA for a Wheeled Robot

Author(s): Sandipan Pine* and Bibhuti Bhusan Choudhury

Volume 15, Issue 4, 2022

Published on: 19 August, 2022

Page: [301 - 308] Pages: 8

DOI: 10.2174/2352096515666220512115747

Price: $65

Abstract

Aims: This paper describes the process of spotting a barrier on the path of a wheeled robot to find an alternate way of avoiding it.

Methods: For path planning, an image-processing technique is used, and for the barrier-sensing and avoidance system, an ultrasonic sensor is used. FPGA board processes the sensor output, and after processing, it instructs the motor arrangement to control the speed and direction of the wheeled robot.

Results: We took one digital storage oscilloscope to collect the data from the sensor board. Although the color and lumen of the reflection matter a lot in the reading, various objects were selected to reduce the probability of error. A Very High-Speed Integrated Circuit (VHSIC) Hardware Description Language (VHDL) block is generated to control the algorithm and is connected with an enabled pin. The calculation block and the ADC have been illustrated. As the FPGA board reads a digital signal, we converted the received signal to digital with the help of an ADC of type NS ADC128S022. It is a 12-bit converter. Initially, we kept bigger particles in front of the sensor to understand and quantify its highest scope. DSO is used to view the response of both the pulse and the analog signal. The code, which we have written for the operation of the ultrasonic sensor, used a high logic of 10 μs width for triggering the input. The program measures the object distance by calculating the logic high time of the ECHO pin we have programmed as input. For servo operation, a pulse was detected in 1.5ms over a 20-millisecond time-period. To change the rotating angle, we adopted different on time.

Conclusion: Wheeled robots have a number of applications. Depending on what sensors, actuators or microprocessors are applied, the response time differs from one model to the other. A robot should respond very quickly to the signals in real-time applications. In a realistic approach, the FPGA development board has been widely used in robot models because of its fast response time, flexible system approach, quick generation of signals, parallel processing ability, and very low cost compared to other processors.

Keywords: Wheeled robot, FPGA, barrier sensing, vertex-5, robot control, path planning.

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