Please use this identifier to cite or link to this item: 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 
Publication Type: Peer Reviewed
Appears in Collections:Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation

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