FPGA-Based car robot path follower with obtacle avoidance

Abstract

This report describes the design and implementation of a system-on-programmable-chip (SoPC) based automated path following with obstacle avoidance using infrared sensors. The robot follows a black line using infrared sensors installed under the robot. The path is predefined as a black line on a white surface. The data coming from the infrared sensors are digitized and processed by the digital controller. The driver unit receives commands from the controller to drive the robot to follow the predefined path. The line follower robot also performs the obstacle detection using infrared sharp sensor. The robot avoids the obstacle from both sides, right and left, and scans the path to reach its destination by following the path. If any obstacle is detected on the path, on either side or if the path is ended the car robot will stop. The approach used to synthesize this digital controller is the SoPC. The controller is developed using the Intel-FPGA (former Altera) Quartus II development suite tools and the Altera Monitor Program software tool. It is realized on the DE2 board platform built around the EP2C35F672C6 FPGA of cyclone II family and exemplified on a mobile robot.