FPGA-Based car-like robot path follower with obstacle avoidance

Abstract

This project is about the design and implementation of an SOPC based automated path following with obstacle avoidance using infrared sensors and ultrasonic sensor. The Line follower robot is a mobile machine that can detect and follow the line drawn on the floor. The path is predefined as a black line on a white surface with a high contrasted color. This kind of robot should sense the path using infrared sensors which installed under the robot. After that the data is transmitted to the controller to be processed by specific transition buses. The processor is going to send proper commands to the driver unit circuit and thus the path will be followed by the line follower robot. This system is provided with obstacle avoidance mechanism using ultrasonic sensor. After avoiding the obstacle either from the right side or the left side the car then has to find its path again to reach its destination with the continuity of following and scanning the path. The car will stop if an obstacle is detected on the path and on both sides of it or if the path is ended. The digital controller is designed and implemented using both off-the-shelf integrated circuits and the FPGA. The FPGA subsystem is developed using Altera Quartus II development suite tools and the Altera monitor program software. It is realized on a CycloneII EP2C35F672C6 low-cost FPGA platform and tested on a physical structure constructed in the laboratory for its feasibility and functionality.