DefinePK

Abstract

The implementation of obstacle avoidance system is important application for robotics and in generally is most part used in many applications such as, security or military. This project applied by utilized FPGA platform (DE0-nano Board). The robot can distinguish the obstacle by using ultrasonic sensor (HRLV-MaxSonar). Perception approach and motion planning is the most basic part in this project. Ultrasonic was utilized to detect any obstacle while, the DE0-Nano board is the project platform and the characteristic of FPGA offer programmability and makes it easier to implement on different mobile robot platforms. The Sensor was integrated with the DE0-Nano board. In this project a structure VHDL coding is utilized for design the obstacle avoidance and Quartus II 13.0sp1 as a development CAD tool. The implementation of complex obstacle avoidance with FPGA platform (DE0-Nano) is possible because of the rich logic elements. A specific sensor characteristics testing was carried and robot stability to master these sensor and robot. The result for our project that already got shown the frequency for DE0-nano achieved up to 1.3 GHz, also the total logic elements was used for this project is 4,042 and shown the result for ultrasonic sensor is a high precision and higher accuracy for detection the obstacle and avoids it.