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https://hdl.handle.net/20.500.14279/8471| Title: | Tracking control using the strip-wise affine transformation: an experimental SoC design | Authors: | Moustris, George P. Deliparaschos, Kyriakos M. Tzafestas, Spyros G. |
metadata.dc.contributor.other: | Δεληπαράσχος, Κυριάκος Μ. | Major Field of Science: | Engineering and Technology | Field Category: | Electrical Engineering - Electronic Engineering - Information Engineering | 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) | Issue Date: | 23-Aug-2009 | 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 | Affiliation : | National Technical University Of Athens |
| Appears in Collections: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
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