mobile robot autonomous navigation; FPGA hardwae implementation; embedded system design
Thie poject is attempted to demonstrate the FPGA (Filed Progarammable Gate Array) hardware implementation of neural network (NN) algorithm for mobile robot autonomous navigation. The NN topology was designed with adequate NN algorithm and trained using NN toolbox in Matlab. The sensory input system of the mobile robot was designed ti create the training data pairs for the NN training. The collision free path finding of the obstacle avoidance task was consideredfor the training data pairs to determine its stability and reliability.the final weight was taken from the last train of the optimal NN algorithm design for the FPGA hardware implememtation. The embedded system design was consisted of two parts which are hardware system design ans the NN algorithm software programming. The hardware system was generated with SOPC (System on aprogrammable chip.
EMBEDDED SYSTEM ON ROBOT_HOE LAY FANG_E3_2008_NI