FPGA-based cooperative control of indoor multiple robots

Ha, QP; Yu, YH; Quang, NK

FPGA-based cooperative control of indoor multiple robots

Ha, QP

Yu, YH Quang, NK

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Publication Type:: Journal Article
Citation:: International Journal of Advanced Mechatronic Systems, 2012, 4 (5-6), pp. 248 - 259
Issue Date:: 2012-12-01

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Field	Value	Language
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.contributor.author	Yu, YH	en_US
dc.contributor.author	Quang, NK	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	International Journal of Advanced Mechatronic Systems, 2012, 4 (5-6), pp. 248 - 259	en_US
dc.identifier.issn	1756-8412	en_US
dc.identifier.uri	http://hdl.handle.net/10453/23086
dc.description.abstract	Cooperative control of a group of mobile robots remains a challenging topic in robotics. In the emerging trend of ubiquitous robotics, real-time control using vision-based surveillance strategies requires embedded systems with limited computational performance and energy saving. In this paper, a control-system-on-chip architecture is developed for coordination of control of an indoor robotic formation by using a field programmable gate array (FPGA) chip. The prototype features capabilities of colour-based motion object tracking, inter-robot distance estimation, trajectory estimation, velocity control, formation initialisation and maintenance. All algorithms are implemented in pure register-transfer and gate-level circuits with localisation from a global monocular camera. Experiment results are included for miniature robots deployed in a line formation. The FPGA's resource usage and power consumption are analysed to show efficiency of the proposed approach. © 2012 Inderscience Enterprises Ltd.	en_US
dc.relation.ispartof	International Journal of Advanced Mechatronic Systems	en_US
dc.relation.isbasedon	10.1504/IJAMECHS.2012.052220	en_US
dc.title	FPGA-based cooperative control of indoor multiple robots	en_US
dc.type	Journal Article
utslib.citation.volume	5-6	en_US
utslib.citation.volume	4	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
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 - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.issue	5-6	en_US
pubs.publication-status	Published	en_US
pubs.volume	4	en_US

Abstract:

Cooperative control of a group of mobile robots remains a challenging topic in robotics. In the emerging trend of ubiquitous robotics, real-time control using vision-based surveillance strategies requires embedded systems with limited computational performance and energy saving. In this paper, a control-system-on-chip architecture is developed for coordination of control of an indoor robotic formation by using a field programmable gate array (FPGA) chip. The prototype features capabilities of colour-based motion object tracking, inter-robot distance estimation, trajectory estimation, velocity control, formation initialisation and maintenance. All algorithms are implemented in pure register-transfer and gate-level circuits with localisation from a global monocular camera. Experiment results are included for miniature robots deployed in a line formation. The FPGA's resource usage and power consumption are analysed to show efficiency of the proposed approach. © 2012 Inderscience Enterprises Ltd.

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http://hdl.handle.net/10453/23086