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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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