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Efficient FPGA Realization of CORDIC With Application to Robotic Exploration

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3 Author(s)
Vachhani, L. ; Indian Inst. of Inf. Technol., Design & Manuf. Kancheepuram, Chennai, India ; Sridharan, K. ; Meher, P.K.

We present an area efficient method and field programmable gate array (FPGA) realization for two common operations in robotics, namely, the following: (1) rotating a vector in 2D and (2) aligning a vector in the plane with a specific axis. It is based on a new coordinate rotation digital computer (CORDIC) algorithm that is designed to work with a small set of elementary angles. Unlike conventional CORDIC, the proposed algorithm does not require a ROM and a full-fledged barrel shifter. The proposed CORDIC algorithm is used to design hardware efficient solutions for two mobile robotic tasks in an indoor environment without employing division and floating-point calculations. Experiments with a sole low end FPGA based robot in static as well as dynamic environments validate the power of the approach.

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Industrial Electronics, IEEE Transactions on  (Volume:56 ,  Issue: 12 )