Embedded systems for robotic applications

Abstract

Third year Engineering students are assigned different routes and different speed to write a program using VHDL programming language in laboratory session of the EE3072 project module. Students are required to design the path controller and speed controller using the ALTERA MAX+PLUS II EDA (Electronic Design Automation) software tool. Mobile robots are provided to verify the logic simulation of the controllers and to observe the functionality of the controllers on the actual platform. The movement of the mobile robots is sometime affected by the path sensors due to their misalignment and software restriction. In this project, the electrical structure and software flow of the mobile robot are modified to provide reliable detection of the path and stable movement through out the entire course. The power supply of the robot is now provided with lower voltage supply and the electrical noise from the motor is rectified and separated from the system. A comparator circuit is also implemented to provide correct voltage level from the path sensors. The additional processes are implemented to obtain different pattern of robot movement. The routines from the C Program are modified to provide steady forwarding and turning. The overall results of both software and hardware are discussed to explain the project outcome and some drawbacks. Several factors for further improvement of the project also suggested.