Design of a flexible reconfigurable mobile robot localization system using FPGA technology

Ghorbel, Agnès; Amor, Nader Ben; Jallouli, Mohamed

doi:10.1007/s42452-020-2960-4

Cited by 5 publications

(4 citation statements)

References 15 publications

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“…The Levenberg-Marquardt algorithm uses data to train the intelligent neural network (NN) controller & the black box model in the MATLAB environment (1) represents the response of hardware-based controller. The author has presented a flexible platform based on the FPGA technology, for studying and conceiving complete unified robot navigation system (2). The author has uses the concept of integrating the advantages of a localization based on an odometer and localization based on camera data and make them complementary which will enable the robot to accurately localize itself to manage complex tasks that other embedded platforms cannot guarantee especially for complex vision applications (2).…”

Section: Literature Surveymentioning

confidence: 99%

“…The author has presented a flexible platform based on the FPGA technology, for studying and conceiving complete unified robot navigation system (2). The author has uses the concept of integrating the advantages of a localization based on an odometer and localization based on camera data and make them complementary which will enable the robot to accurately localize itself to manage complex tasks that other embedded platforms cannot guarantee especially for complex vision applications (2). Odometer doesn't guarantee of accurate positions especially for the indoor environment applications and image processing may utilize more number of FPGA resource (2).…”

Section: Literature Surveymentioning

confidence: 99%

“…The author has uses the concept of integrating the advantages of a localization based on an odometer and localization based on camera data and make them complementary which will enable the robot to accurately localize itself to manage complex tasks that other embedded platforms cannot guarantee especially for complex vision applications (2). Odometer doesn't guarantee of accurate positions especially for the indoor environment applications and image processing may utilize more number of FPGA resource (2). An intelligent autonomous robot is required in various applications such as space, transportation, industry and defense for mobile robots to perform tasks like material handling, disaster relief, patrolling, and rescue operation, faiza Gul et al has made an effort has to study navigation techniques that are well suited for the static and dynamic environments (3).…”

Section: Literature Surveymentioning

confidence: 99%

See 2 more Smart Citations

Implementation of Robotic Navigation Algorithms Using Partial Reconfiguration on Zynq SoC

Basha¹,

Munuswamy²,

Chinnaaiah³

2022

ECS Trans.

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The purpose for this research work is to design a heterogeneous method for adaptive, task-based computer hardware reconfiguration for adaptive mobile robotic applications. The proposed method uses the dynamic reconfiguration technique to modify the navigation system to meet the requirements of various navigation algorithms for accomplishing an assigned task. In this work, we have proposed an efficient architecture that satisfies the requirements with adequate hardware and software resources by dynamically reconfiguring the system. The ability to change resources allows robots to collaborate more easily, to enhance performance and fault tolerance. The method is endorsed with case studies in which a multiple mobile robots are loaded with bitfile and their behaviors are dynamically modified during runtime. This paper also proposes the hardware implementation of navigation algorithms on Zynq SoC, XC7Z020CLG484-1, using Xilinx Vivado 2017.3 to simulate and synthesize the design. Verilog is a real-time hardware description language, which is used to deploy multiple robots. Software Development Kit (SDK) is used to facilitate the generation of integrated software applications for Xilinx embedded processors. One of the important aspects of this work is adopting an FPGA-based robot in service-based applications for assisting humans in their daily lives.

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Section: Literature Surveymentioning

confidence: 99%

Section: Literature Surveymentioning

confidence: 99%

Section: Literature Surveymentioning

confidence: 99%

See 1 more Smart Citation

Implementation of Robotic Navigation Algorithms Using Partial Reconfiguration on Zynq SoC

Basha¹,

Munuswamy²,

Chinnaaiah³

2022

ECS Trans.

View full text Add to dashboard Cite

show abstract

“…In addition, the FPGA can be easily reprogrammed and adjusted to suit different scenarios or speci ic requirements of the line-following robot. Most of these FPGA implementations are task-oriented for the entire robotic system or are used for particular applications [15].…”

Section: Introductionmentioning

confidence: 99%

Application of Multilayer Neural Networks for Controlling a Line-Following Robot in Robotic Competitions

Cesar Minaya,

Rosero,

Zambrano

et al. 2024

JAMRIS

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The paper presents an approach for controlling a line-following robot using artificial intelligence algorithms. This study aims to evaluate and validate the design and implementation of a competitive line-following robot based on multilayer neural networks for controlling the torque on the wheels and regulating the movements. The configuration of the line-following Robot consists of a chassis with a set of infrared sensors that can detect the line on the track and provide input data to the neural network. The performance of the line-following Robot on a running track with different configurations is then evaluated. The results show that the line-following Robot responded more efficiently with an artificial neural network control algorithm than a PID control or fuzzy control algorithm. At the same time, the reaction and correction time of the Robot to errors on the track is earlier by about 0.1 seconds. In conclusion, the capabilities of a neural network allow the line-following Robot to adapt to environmental conditions and overcome obstacles on the track more effectively.

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A novel robust reset controller implemented through field programmable gate array for oxygen ratio regulation of proton exchange membrane fuel cell

Shen

Mousavi

et al. 2022

Computers and Electrical Engineering

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Design of a flexible reconfigurable mobile robot localization system using FPGA technology

Cited by 5 publications

References 15 publications

Implementation of Robotic Navigation Algorithms Using Partial Reconfiguration on Zynq SoC

Implementation of Robotic Navigation Algorithms Using Partial Reconfiguration on Zynq SoC

Application of Multilayer Neural Networks for Controlling a Line-Following Robot in Robotic Competitions

A novel robust reset controller implemented through field programmable gate array for oxygen ratio regulation of proton exchange membrane fuel cell

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