Behavior-based Control System Design in FPGA for a Two-wheeled Autonomous Robot
| Autor: | Chun-Lung Chen, 陳俊隆 |
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| Rok vydání: | 2007 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 95 In this research, we develop a two-wheeled autonomous robot system, which is composed of an upper-level PC-based vision processor, a middle-level FPGA-based motion controller, and a lower-level motor drive circuit. This motor drive circuit provides velocity and current feedback signals which are fed back to middle-level controller. In the middle-level, two robot motion controllers are deduced from the concepts of the system stability and the unit-mass control using Lyapunov’s direct method and inverse dynamics control, respectively. These two motion controllers are utilized to develop the behaviors for the autonomous robot. All the function modules of the motion controllers are devised with VHDL on the FPGA chip, including the modules of controller design, UART, position decoder, torques decoder, velocity feedback control, current feedback control, and PWM modules. The information of three-level processors is integrated in the PC-based processor and the integrated system is expected to perform different types of behavior on the two-wheeled autonomous robots. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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