Modeling mobile robots by using Fpga (field programmable gate array)

Field Programmable Gate Array (FPGA)s are integrated circuits that are consist of can be configured logic blocks and changable intermediate connections among those blocks. FPGA?s are used in real time applications that need fast processing and for special processings that need parallel operation. A typical FPGA contains flip-flops and logic blocks from sixty four to hundreds of thousands. Depending on the circuit that designed by user, logic blocks and intermediate connections are programmed by a software provided from FPGA producer.In this study, an omni-directional robot model implemented by using a FPGA development board. The robot has three omni-directional wheels on which free-turning rollers are placed. Therefore the robot has the ability to move any direction.In this thesis, first, inverse kinematic and dynamic model of the omni-directional robot are developed in Matlab. Next, the simulation of the robot is realized for different trajectories. Then, the FPGA implementation of the robot model is performed using Altera chips and tools for real time applications. Finally, the results are compared to verify the real time implementation of the omni-directional robot model.Key Words : Real time modelling, Omni-directional robot, FPGA