Developing of mobile robotic technical system based on FPGA

Teslyuk V., Matviichuk K., Romaniuk A.

Lviv Polytechnic National University

Abstract: 
In the article the structure of the designed FPGA based mobile robot technical system is described. For the design the block-hierarchical approach was used. This system includes the following elements: - the MicroBlaze soft, which is a 32-bit programmable RISC processor with Harvard architecture, in which the processor has separated memory commands and data memory, motor control subsystem, video processing subsystem, radio module control subsystem, sensor control subsystem, the subsystem of obstacle identification. The structure that was built is based on a modular principle that allows you to quickly modify and develop MRTS. To solve the task of the system functioning in the conditions of a rapidly changing environment hardware implementation FPGA based MRTS subsystems were used. Complex VHDL models of control subsystems of MRTS for the schemotechnical level of design were developed. Obstacle detection and engine control subsystems based on RTL circuits and modeled by means of the VHDL languages and their working principles, and detailed descriptions of the individual valves were presented. System software is divided into client and server parts. The client part is placed on a computer, this is a program written in C ++ programming language, which communicates with a mobile RTS. The main component of the program for developed model is an RTS control subsystem, which is provided in UML diagram. The features of the physical model of mobile RTS based on the FPGA are described. The sample model is implemented in FPGA, which gives the opportunity to explore the developed software. In the process of implementation was used Spartan 3E, 500K capacity logical element in the FG320 package. Proposed the implementation of a subsystem of the MRTS in the future will develop the RTS which will have high performance at low weight and size and a low price.
References: 

1. I. G. Tsmots, V. M. Teslyuk, I. Vavruk, “Hardware and software tools for motion control of mobile robotic system,” in Proc. of the 12-th International Conference on The Experience of Designing and Application of CAD Systems in Microelectronics, CADSM’2013, Lviv-Polyana, Ukraine, Feb.19-23, 2013,
2. Pavlo Denysyuk, Kateryna Matviichuk, Marta Duda, Taras Teslyuk, Yaroslav Kobyliuk. Technical Support For Mobile Robot System RoboCAD. / // in Proc. of the 12-th International Conference on The Experience of Designing and Application of CAD Systems in Microelectronics, CADSM’2013, Lviv-Polyana, Ukraine, Feb.19-23, 2013 C.431-432
3. Yung-Hui Chen, Jyu-Wei Wang, The Disaster Rescue Robot Design and Implementation Using Open Source, Advanced Multimedia and Ubiquitous Engineering, Lecture Notes in Electrical Engineering, Volume 352, 2015, 53-60
4. Lipsett, Roger, Carl F. Schaefer, and Cary Ussery. VHDL: Hardware description and design. Springer Science & Business Media, 2012.
5. Sepúlveda, Roberto, et al. "Methodology to test and validate a vhdl inference engine of a type-2 fis, through the xilinx system generator." Evolutionary Design of Intelligent Systems in Modeling, Simulation and Control. Springer Berlin Heidelberg, 2009. 295-308.
6. Chu, Pong P. FPGA prototyping by VHDL examples: Xilinx Spartan-3 version. John Wiley & Sons, 2011.
7. Ah-Hwee Tan. FALCON: A fusion architecture for learning, cognition and navigation. // IJCNN-04. IEEE International Joint Conference on Neural Networks. 2004. Vol. 4. 3297-3302.
8. Monmasson, E., Idkhajine, L., Cirstea, M. N., Bahri, I., Tisan, A., & Naouar, M. W. (2011). FPGAs in industrial control applications. Industrial Informatics, IEEE Transactions on, 7(2), 224-243.
9. Sudha, N., and Aruppukottai Rajarathinam Mohan. "Hardware-efficient image-based robotic path planning in a dynamic environment and its FPGA implementation." Industrial Electronics, IEEE Transactions on 58.5 (2011): 1907-1920
10. Piltan, Farzin, et al. "Design of FPGA-based Sliding Mode Controller for Robot Manipulator." International Journal of Robotics and Automation (IJRA) 2.3 (2011): 173-194.
11. Castillo, Oscar. Soft Computing for Intelligent Control and Mobile Robotics. Vol. 318. Springer Science & Business Media, 2010.
12. Firebaugh, L.Samara, et al. A Study of Seismic Robot Actuation Using COMSOL Multiphysics. NAVAL ACADEMY ANNAPOLIS MD, 2010.
13. Ivan Tsmots, Iryna Vavruk, Roman Tkachenko, Vasyl Teslyuk Designing and simulation a motion control system of mobile robot based on fuzzy logic // International Journal of Advanced Research in Computer Engineering & Technology (IJARCET. – 2014, Volume 3, Issue 9. – P. 3143 – 3147.
14. A.Golovatyj, V.Teslyuk, R.KRYVYY VHDL-Ams Model of Integrated Membrane-Type Micro-Accelerometer with Delta-Sigma (Δσ) Analog-To-Digital Converter for Schematic Design Level // ECONTECHMOD. – 2015, vol. 4, no. 2. – P. 65 – 70.
15. Partial Reconfiguration, Xilinx, Development System Reference Guide, Chapter 5.– http://www.xilinx.com/itp/xilinx8/de/dev/partial.pdf.
16. A. Holovaty., V.Teslyuk, M.Lobur Verilog-AMS model of comb-drive sensitive element of integrated capacitive microaccelerometer for behavioral level of computer-aided design // ECONTECHMOD. – 2014, vol. 3, no. 4. – P. 49 – 53.