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Title: Tracking control using the strip-wise affine transformation: an experimental SoC design
Authors: Moustris, George P. 
Deliparaschos, Kyriakos M. 
Tzafestas, Spyros G. 
Keywords: Digital fuzzy logic processor (DFLP);Electronic design automation (EDA);Non-holonomic mobile robots;Path tracking;Strip-wise affine transformation;System-on-a-chip (SoC);Very-high-speed integrated circuits hardware description language (VHDL)
Category: Electrical Engineering - Electronic Engineering - Information Engineering
Field: Engineering and Technology
Issue Date: 23-Aug-2009
Publisher: Institute of Electrical and Electronics Engineers Inc
Source: 10th European Control Conference, 2009, Budapest, Hungary, 23-26 August
Conference: European Control Conference 
Abstract: This paper presents the analysis and application of the strip-wise affine map to the path following task for autonomous non-holonomic mobile robots. The mapping was implemented on a Spartan 3-1500 FPGA board with the use of VHDL and advanced EDA tools and was used in field experiments on a Khepera H differential robot. A fully parameterized DFLC previously published by the author has been tailored accordingly for the needs of this design implementation. Experiments were performed using a calibrated camera and a video tracking algorithm in order to extract the actual robot's path, compare it to the odometry solution and analyze the tracker's performance
ISBN: 978-395241739-3
Rights: © EUCA
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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