Enhance implementation of flying robot auto-navigation system on FPGA for better performance

The complexity to autonomous-navigate a flying robot is much higher compared with a ground-based robot. During autonomous-navigation, the flying robot should have the intelligent to fly from current location toward the desired location. Therefore, the system must address three problems facing by the flying robot. First, where am I? It's the perceive level of the flying robot to sense the environment. Second, where am I going? The flying robot must possess the knowledge on the areas located. With all of the information, the flying robot is capable to address the third questions, figuring how to go there. The main intention of this paper is to devote the autonomous navigation system on flying robot. Significant parameter on the system like in term of frequency, accuracy, etc. will be improve or enhances in this paper. Sensors such as Global Positioning System (GPS), ultrasonic range (US) sensor, etc. was implemented on the flying robot. This sensor was operated as the sensing unit in the flying robot to provide the physical knowledge for the surrounding environment. Then the flying robot would be able to generate a path toward the desired location. To flying safely during task, flying robot has to continually acquire the environment knowledge time by time. Besides, it's also important to maintain the stability of the flying robot when performing the entire task. All of the module would combine as final module name autonomous navigation system. The system would make the decision based-on the stage of the task. All of the module would implement on FPGA using VHDL and process with DE0-Nano as the on-board computer. The system was successfully implemented on the flying robot. It's still under progress to perform the outdoor autonomous navigation without human supervised. The objective to devote the system is under progress.

I. Introduction

To autonomously flying a robot from a location toward the desired location is without the constant human supervise. This is very difficult tasks for the robot itself having the sensing systems like human being. Hence, this ability is important to be implementing on the flying robot, known as sensing unit. This ability can be used to provide information through implement the sensors on the flying robot. Then, an on-board computer will compute the data acquired online or offline to perform autonomous navigation. However, developing such systems is more difficult and complex than the ground-based robot. The limitation on the flying robot platform is increasing the difficulties. Most of the method proposed by the authors is successes in ground-based robots with complex kinematics. Those ground-based robot is operates under higher frequency, higher power consumption and higher in payload capacity. Meanwhile the operation for flying robot is limited in high frequency, power consumption and limited in payload capacity. To overcome the limitations, sensors that operate in lower power consumption, small in size are chosen by others authors.