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Unified motion controller design and FPGA-based implementation for nonholonomic mobile robots

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3 Author(s)
Ching-Chih Tsai ; Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan ; Feng-Chun Tai ; Shih-Min Hsieh

This paper presents techniques for design and system-on-a-programmable-chip (SoPC) realization of a kinematics controller to achieve simultaneous tracking and regulation for a nonholonomic two-wheeled mobile robot moving at low speeds. The kinematics controller is designed based on the Lyapunov stability theory, and the proposed motion control law is then implemented into a FPGA development board (Altera's NIOS II development kit, Stratix II edition). Simulations and experimental results are conducted to illustrate the effectiveness and performance of the proposed FPGA-based controller for nonholonomic mobile robots.

Published in:

SICE Annual Conference 2010, Proceedings of

Date of Conference:

18-21 Aug. 2010

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