Slope-based point pursuing maneuvers of nonholonomic robots using FPGA

Yu, YH; Kodagoda, S; Ha, QP

Slope-based point pursuing maneuvers of nonholonomic robots using FPGA

Yu, YH Kodagoda, S

Ha, QP

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Publication Type:: Conference Proceeding
Citation:: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, pp. 3694 - 3699
Issue Date:: 2010-12-01

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Field	Value	Language
dc.contributor.author	Yu, YH	en_US
dc.contributor.author	Kodagoda, S https://orcid.org/0000-0001-5175-9138	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2010-12-01	en_US
dc.identifier.citation	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, pp. 3694 - 3699	en_US
dc.identifier.isbn	9781424466757	en_US
dc.identifier.uri	http://hdl.handle.net/10453/16203
dc.description.abstract	Steering maneuver is essential in robotic motion planning. Despite a lot of steering mechanisms successfully developed in past years, for miniature robots, real-time computation is still a limitation for robot path tracking. The design issues in cooperative control of battery-powered nonholonomic robots rest with the complicacy of the control strategies, the low power consumption and real-time processing capability. Conventionally, the improvement of computing speed mostly relies on the increment of the system clock and often results in some transient loss. Thus, an elaborate control algorithm developed for PC might not work on an embedded system. This paper presents a comprehensive steering algorithm which, via issuing predicaments for computation, will dramatically reduce the resource usage in hardware circuit design. The proposed algorithm is implemented on an embedded system for ubiquitous robotics using the field programmable gate array (FPGA) technology. ©2010 IEEE.	en_US
dc.relation.ispartof	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings	en_US
dc.relation.isbasedon	10.1109/IROS.2010.5652739	en_US
dc.title	Slope-based point pursuing maneuvers of nonholonomic robots using FPGA	en_US
dc.type	Conference Proceeding
utslib.for	080101 Adaptive Agents and Intelligent Robotics	en_US
dc.location.activity	Taipei, taiwan	en_US
dc.location.activity	Taipei, TAIWAN
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

Steering maneuver is essential in robotic motion planning. Despite a lot of steering mechanisms successfully developed in past years, for miniature robots, real-time computation is still a limitation for robot path tracking. The design issues in cooperative control of battery-powered nonholonomic robots rest with the complicacy of the control strategies, the low power consumption and real-time processing capability. Conventionally, the improvement of computing speed mostly relies on the increment of the system clock and often results in some transient loss. Thus, an elaborate control algorithm developed for PC might not work on an embedded system. This paper presents a comprehensive steering algorithm which, via issuing predicaments for computation, will dramatically reduce the resource usage in hardware circuit design. The proposed algorithm is implemented on an embedded system for ubiquitous robotics using the field programmable gate array (FPGA) technology. ©2010 IEEE.

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http://hdl.handle.net/10453/16203