Hardware Design of FPGA-Based Embedded Heuristic Optimization Technique for Solving a Robotic Problem: IC-PSO

Dereli, Serkan; Köker, Raşit

doi:10.1007/s13369-023-07655-6

Cited by 2 publications

(1 citation statement)

References 42 publications

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“…For instance, a backstepping control regulator has been implemented for PUMA 560 using the FPGA-in-the-loop option on the Xilinx Zedboard Zynq FPGA with the Hardware Description Language (HDL) Coder tool [16]. Another study focused on optimizing solution times for real-time use of inverse kinematics in articulated robots, developing and testing an optimization algorithm compatible with FPGA architecture [17]. Furthermore, a discussion on the application of FPGAbased HIL simulation to computer vision in an unmanned aerial vehicle is presented in [18].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Digital Simulator Design for Differential Drive Mobile Robot using FPGA

Sarac,

Aydoğmuş

2024

Balkan Journal of Electrical and Computer Engineering

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This paper presents a real-time simulation of a differential drive mobile robot (DDMR). The permanent magnet DC motors that drive the robot’s left and right wheels were modeled and executed in real-time on a Field Programmable Gate Array (FPGA) based co-simulator platform, interfacing with the Webots robot simulator, which simulates the DDMR on the PC side. The electrical parameters, which are not available in robot simulators, were simulated and measured by the proposed co-simulator system in real-time under various environmental conditions and trajectories of the robot. Parameters such as current, voltage, and torque were measured instantaneously, enabling a more realistic simulation. Additionally, the cycle time of the robot simulator was determined to be 32 ms, and the developed FPGA-based simulation operated at approximately 2000 times the speed of the robot simulator. The results demonstrate the applicability of the developed platform in robotic applications.

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Section: Introductionmentioning

confidence: 99%