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dc.contributor.authorMoustris, George P.-
dc.contributor.authorDeliparaschos, Kyriakos M.-
dc.contributor.authorTzafestas, Spyros G.-
dc.contributor.otherΔεληπαράσχος, Κυριάκος Μ.-
dc.identifier.citation10th European Control Conference, 2009, Budapest, Hungary, 23-26 Augusten_US
dc.description.abstractThis 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 performanceen_US
dc.publisherInstitute of Electrical and Electronics Engineers Incen
dc.rights© EUCAen_US
dc.subjectDigital fuzzy logic processor (DFLP)en_US
dc.subjectElectronic design automation (EDA)en_US
dc.subjectNon-holonomic mobile robotsen_US
dc.subjectPath trackingen_US
dc.subjectStrip-wise affine transformationen_US
dc.subjectSystem-on-a-chip (SoC)en_US
dc.subjectVery-high-speed integrated circuits hardware description language (VHDL)en_US
dc.titleTracking control using the strip-wise affine transformation: an experimental SoC designen_US
dc.typeConference Papersen_US
dc.collaborationNational Technical University Of Athensen_US
dc.subject.categoryElectrical Engineering - Electronic Engineering - Information Engineeringen_US
dc.reviewPeer Revieweden
dc.subject.fieldEngineering and Technologyen_US
dc.publicationPeer Revieweden_US
dc.relation.conferenceEuropean Control Conferenceen_US
item.fulltextNo Fulltext-
item.languageiso639-1other- of Electrical Engineering, Computer Engineering and Informatics- of Engineering and Technology- of Engineering and Technology-
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers
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