A mobile robot modelling and controlling in real time

The importance of real-time processing has been recently realized and recognized in many applications. In some applications, e.g. real time modeling, control or data processing system, it is very useful to have high levels of processing throughput. Traditionally, digital signal processing (DSP) algorithms are implemented using general-purpose (programmable) DSP chips for low-rate applications. Advancements in Field Programmable Gate Arrays (FPGAs) provide new options for DSP design engineers. The FPGA maintains the advantages of custom functionality while avoiding the high development costs and the inability to make design modifications after production. The FPGA also adds design flexibility and adaptability with optimal device utilization while conserving both board space and system power.Omni-directional mobile robot is a kind of holonomic robot. Compared with more common car like (nonholonomical) mobile robot, omni-directional mobile robot has the ability to move simultaneously and independently in translation and rotation. The maneuverability of the omni-directional mobile robot makes it widely studied in literature.In this thesis, we first modeled an omni-directional mobile robot and a control system in Matlab. Then, in order to test performance of the mobile robot in real time, the model of the robot and control system has been developed in FPGA development board. In this study, Altera Stratix-II GX FPGA development board is used.During the modeling process of the omni-directional mobile robot, inverse kinematic and dynamic model of the robot has been developed. Additionally, the motors used in the omni-robot have been modeled. And also, PI controllers have been constructed for each motors in order to closed loop control of the system.The aim of the project is to develop an omni-robot model and control system works in real time. The execution cycle of model including control system is fairly suitable for working in real time. In this study, the omni-robot model and control system has been verified with Matlab simulation for two different trajectories and the satisfactory results have been obtained.Key Words: FPGA, Omni Directional Mobile Robot, Control, Real Time