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Fpga hardware implementation of neuro-fuzzy algorithm for mobile robot autonomous navigation / Chan Zhi Wei

Fpga hardware implementation of neuro-fuzzy algorithm for mobile robot autonomous navigation_Chan Zhi Wei_E3_2009_875004468_00003095290_NI
Pelayaran dan pengelakan halangan adalah salah satu tugas atau misi penting yang dilancarkan dan dilaksanakan oleh sebuah robot bregerak berautomasi. Objektif projek ini adalah untuk merekabentuk sebuah program penglakan halangan bagi robot bergerak yang memasukkan algoritma neuro-fuzzy yang akan dilaksanakan dalam papan pembangunan FPGA. Untuk menjana pelanggaran bebas laluan bagi pergerakan robot, satu perancangan gerakan wajar adalah diperlukan. Pelaksanaan bagi perisian dan sistem perkakasan boleh dilakukan dengan menggunakan perisian Altera Quartus® reka bentuk II, System-on-programmable-chip (SOPC) Builder, perisian Nios® II Reka Bentuk Bersepadu Persekitaran (IDE), dan papan pembangunan FPGA (DE2). Simulasi dan proses latihan berat dilaksanakan dengan menggunakan perisian Nios® II IDE. Penderia ultrasonik diguna sebagai unsur penderiaan untuk robot manakala enjin servo diguna sebagai penggerak untuk robot tersebut. Algoritma neuro-fuzzy berjaya dilaksanakan pada FPGA (DE2) dan robot yang dibina berupaya berkomunikasi dengan FPGA (DE2) untuk mengelak halangan. ________________________________________________________________________________ Navigation and obstacle avoidance are some of the important tasks or mission deployed and accomplished by an autonomous mobile robot. The objective of this project is to design an obstacle avoidance program for mobile robot that incorporates a neuro-fuzzy algorithm which will be implemented on Field Programmable Gate Array (FPGA) development board. To generate collision-free path for mobile robot, a proper motion planning is needed. Implementation of software and hardware system can be done by using Altera Quartus® II design software, System-on-programmable-chip (SOPC) Builder, Nios® II Integrated Design Environment (IDE) software, and FPGA development and education board (DE2). Simulation and weight training process is tested by using Nios® II IDE software. Ultrasonic sensor is used as the sensing element for the mobile robot while servo motor is used as the actuator for the mobile robot. The result shows that the neuro-fuzzy algorithm is successfully implemented into the FPGA development board and the mobile robot build are able to communicate with the FPGA development board to avoid obstacle.
Contributor(s):
Chan, Zhi Wei - Author
Primary Item Type:
Final Year Project
Identifiers:
Accession Number : 875004468
Barcode : 00003095290
Language:
English
Subject Keywords:
Navigation and obstacle avoidance; neuro-fuzzy algorithm; System-on-programmable-chip (SOPC) Builder, Nios® II Integrated Design Environment (IDE) software, and FPGA development and education board (DE2).;
First presented to the public:
1/4/2009
Original Publication Date:
3/13/2018
Previously Published By:
Universiti Sains Malaysia
Place Of Publication:
School of Electrical & Electronic Engineering
Citation:
Extents:
Number of Pages - 126
License Grantor / Date Granted:
  / ( View License )
Date Deposited
2018-03-13 15:33:31.267
Date Last Updated
2019-01-07 11:24:32.9118
Submitter:
Nor Hayati Ismail

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