Control with FPGA of the four-wheel drive mobile robot driven by BLDC motor

In recent years, studies on mobile robots are increased thanks to improvement of microprocessor & sensor technology, motor driver systems. Mobile robots are frequently used in search and rescue operations occurring in places where is considered dangerous for human to work, in load carry and displacement operations, in geographic information systems or in mapping processes. In this study, a 4WD robot that detect obstacles and decide its path according to them was designed and required control processes were applied. Each wheel of designed robot was propelled with closed loop BLDC (Brushless DC) motor. By doing this not only more precise turning angle was achieved, but also ability to work with very high-speed range was obtained. Besides, together with closed loop BLDC motor, which is considered as highly efficient propulsion device, total energy requirement of mobile robot decreased and thus led us to achieve more operation time between each recharge. Control algorithm of 4WD mobile robot was created by using Myrio-1900 FPGA development card (produce by National Instrument) and thus provide the robot to perceive and react quickly to decide its path In this study, to detect obstacles quicker and more precisely, LiDAR was used which has high sensitivity rate. LiDAR was mounted on a servo motor located on the 4WD robot. LiDAR was given ability to move by using servo motor. With servo motor combination, LiDAR has a range of 270-degree field of view. Thence the mobile robot able to detect all the obstacle that it faced with.