Development of an Field-Programmable Gate Arrays-Based Three-Wheeled Omnidirectional Sensor Mobile Robot for the Teaching of Embedded Robotics

作者：Wu Ter Feng; Huang Hsu Chih; Chien Ying Ren^*

来源：Sensor Letters, 2013, 11(11): 2145-2148.

DOI：10.1166/sl.2013.2961

• Embedded Robotics
• FPGA
• Omnidirectional Sensor Mobile Robot
• Teaching

This paper presents an interesting pedagogical tool, a three-wheeled omnidirectional sensor mobile robot for the teaching of the embedded robotics in undergraduate electrical and mechanical engineering courses. Both embedded system and dynamic control method are integrated in one field-programmable gate arrays (FPGA) to construct an experimental sensor mobile robot by using system-on-a-programmable-chip (SoPC) technology. Such a pedagogical omnidirectional sensor mobile robot with the embedded dynamic control law can be applied to achieve trajectory tracking task. The performance and applicability of the proposed embedded motion controller are exemplified by conducting experiments on an autonomous three-wheeled omnidirectional sensor mobile robot. This pedagogical mobile robot is shown to be significantly effective in helping students to learn embedded robotics.

• 出版日期2013-11